Boxing and stacking equipment and method for tiger skin chicken foot production

Abstract

The invention relates to the technical field of encasement and stacking, in particular to encasement and stacking equipment and method for tiger skin chicken foot production. The encasement and stacking equipment comprises a mechanical arm, the mechanical arm is installed on a moving platform, one end of the moving platform is correspondingly provided with a conveying line, and the other end of the moving platform is correspondingly provided with a stacking table; an electric turntable is arranged on the manipulator, an installation plate is arranged on the electric turntable, an electric telescopic rod is attached to the installation plate, a rod head of the electric telescopic rod is connected with a supporting plate, the supporting plate is perpendicular to the installation plate, a plurality of suction nozzles are installed on the inner side of the installation plate and the inner side of the supporting plate respectively, and a camera is arranged on the installation plate. According to the invention, boxing and stacking can be well carried out.

Description

Technical Field

[0001] The present invention relates to the technical field of packing and palletizing, and specifically, to a packing and palletizing device and method for the production of marinated chicken feet with tiger-skin pattern. Background Art

[0002] Marinated chicken feet with tiger-skin pattern achieve unique quality with the core process of "first frying and then marinating" - the outer skin forms iconic tiger-skin texture through high-temperature frying, and the inner part realizes soft and boneless meat through constant-temperature marinating. This kind of taste that combines visual impact and taste levels makes it a national best-selling snack.

[0003] Driven by the wave of the food industry, this category has broken through the shackles of the traditional workshop mode and realized process innovation relying on an intelligent production line: a fully automated production system from raw material pretreatment, precise frying, marinating to finished product packaging. In the production line of marinated chicken feet with tiger-skin pattern, steps such as packing, sealing and palletizing of products will be carried out. The equipment used is the common packing and palletizing equipment, and these common packing and palletizing equipment are unstable during palletizing, there will be gaps during palletizing, and they occupy a large space. Therefore, a packing and palletizing device and method for the production of marinated chicken feet with tiger-skin pattern are needed to solve the above problems. Summary of the Invention

[0004] The content of the present invention is to provide a packing and palletizing device and method for the production of marinated chicken feet with tiger-skin pattern, which can overcome certain or some defects of the prior art.

[0005] According to a packing and palletizing device for the production of marinated chicken feet with tiger-skin pattern of the present invention, it includes a manipulator, the manipulator is installed on a moving platform, a conveyor line is correspondingly arranged at one end of the moving platform, and a palletizing table is correspondingly arranged at the other end of the moving platform;

[0006] An electric turntable is arranged on the manipulator, an installation plate is arranged on the electric turntable, an electric telescopic rod is attached to the installation plate, the rod head of the electric telescopic rod is connected to a support plate, the support plate is perpendicular to the installation plate, and a plurality of suction nozzles are respectively installed on the inner side of the installation plate and the inner side of the support plate, and a camera is arranged on the installation plate.

[0007] Preferably, the manipulator includes a base, a waist, a large arm, a small arm and a wrist which are sequentially rotationally connected, and the electric turntable is installed on the wrist.

[0008] Preferably, the moving platform includes a slide rail, the base is mounted on the slide rail, a rack is arranged on the moving platform, the rack is engaged with a gear, the gear is connected to a motor, and the motor is installed on the base.

[0009] Preferably, the electric telescopic rod includes a fixed rod and a moving rod, the rod body of the fixed rod is attached to the installation plate, and the rod head of the moving rod is connected to the support plate.

[0010] Preferably, the suction nozzles on the mounting plate are installed on the corresponding convex columns, and the length of the convex columns is greater than the diameter of the electric telescopic rod; a plurality of convex rods are provided on the outer side of the support plate, and the plurality of convex rods are connected to a push plate.

[0011] Preferably, a tape sealing machine is provided on the conveyor line, an operating platform is provided at one end of the conveyor line, an opening is provided on the side of the operating platform, and an output line corresponds to the opening, and the output direction of the output line is perpendicular to the conveying direction of the conveyor line.

[0012] Preferably, a limiting strip is provided on the conveyor line.

[0013] The present invention provides a method for packing and palletizing tiger skin chicken feet production, which adopts the above-mentioned packing and palletizing equipment for tiger skin chicken feet production, and includes the following steps:

[0014] 1. After the tiger skin chicken feet are packed and sealed, they are conveyed to the manipulator through the conveyor line;

[0015] 2. The manipulator moves to the conveyor line through the moving platform and makes the mounting plate located above the box;

[0016] 3. Take a picture of the box through the camera, and transfer the image to the background for analysis to judge whether the box is complete and whether the box sealing meets the requirements; if the box meets the requirements, proceed to the next step, if not, move the mounting plate to make the outer side of the support plate located on the side of the box, and then push the box away;

[0017] 4. Lower the height of the mounting plate to make the suction nozzles on the mounting plate stick to the top surface of the box; then, contract the electric telescopic rod to make the suction nozzles on the support plate stick to the side surface of the box;

[0018] 5. Make the suction nozzles work to suck the box, and then lift the box; after lifting, rotate the mounting plate through the electric turntable to make the support plate rotate to the lower part of the box for support;

[0019] 6. The manipulator moves to the palletizing station through the moving platform;

[0020] 7. The manipulator moves the box above the palletizing position, rotates the box through the cooperation of the electric turntable and the manipulator to make the box in an inclined state, and makes the bottom edge of the box close to the support plate stick to the palletizing position; then, through the cooperation of the electric turntable and the manipulator, make the box rotate around the bottom edge close to the support plate as the axis until the whole box is placed in the palletizing position;

[0021] 8. Make the suction nozzles stop working, the manipulator returns to the position and resumes, and performs the palletizing work of the next box.

[0022] Preferably, in step one, after the marinated chicken claws are packed into boxes, the boxes are sealed by a tape sealing machine and then conveyed to the operating table, where a manipulator performs a suction operation above the operating table.

[0023] Preferably, in step three, if the box does not meet the requirements, the push plate outside the support plate will push the box onto the output line for conveyance.

[0024] The beneficial effects of the present invention are as follows:

[0025] The present invention can transfer qualified and compliant boxes to the palletizing table for palletizing by means of a manipulator. With the dual-stabilizing structure of the suction nozzle and the support plate, the transfer of the boxes is very stable. The suction nozzles on the inner side of the mounting plate and the inner side of the support plate can suck the top and side surfaces of the box, thus holding the box more firmly, and this will not affect the palletizing of the boxes, and the gaps between the boxes during palletizing are small. The manipulator can also push unqualified and non-compliant boxes onto the output line for removal. The manipulator not only has the functions of transfer and palletizing, but also has the functions of box identification and box pushing, which is very convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 FIG. is a three-dimensional structural schematic diagram of the manipulator in the embodiment;

[0027] Figure 2 FIG. is a top-view structural schematic diagram of a packing and palletizing device for marinated chicken claws in the embodiment;

[0028] Figure 3 FIG. is a left-view structural schematic diagram of the manipulator in the embodiment;

[0029] Figure 4 FIG. is a left-view structural schematic diagram of the support plate and the mounting plate in the embodiment;

[0030] Figure 5 FIG. is a front-view structural schematic diagram of the support plate and the mounting plate in the embodiment;

[0031] Figure 6 FIG. is a structural schematic diagram during palletizing in the embodiment, where the boxes are represented by the boxes in the figure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] To further understand the content of the present invention, the present invention will be described in detail in combination with the accompanying drawings and embodiments. It should be understood that the embodiments are only for explaining the present invention rather than limiting it.

[0033] Embodiment

[0034] As Figures 1-5As shown, this embodiment provides a boxing and stacking device for tiger skin chicken feet production, which includes a manipulator 110, the manipulator 110 is installed on a mobile platform 120, one end of the mobile platform 120 is correspondingly provided with a conveyor line 130, and the other end of the mobile platform 120 is correspondingly provided with a stacking platform 140;

[0035] An electric turntable 111 is provided on the manipulator 110, a mounting plate 150 is provided on the electric turntable 111, an electric telescopic rod 160 is attached to the mounting plate 150, a head of the electric telescopic rod 160 is connected to a support plate 170, the support plate 170 is perpendicular to the mounting plate 150, a plurality of suction nozzles 180 are respectively installed on the inner side of the mounting plate 150 and the inner side of the support plate 170, and a camera 190 is provided on the mounting plate 150.

[0036] The suction nozzle 180 on the inner side of the mounting plate 150 and the inner side of the support plate 170 can suck the top and side surfaces of the box, which can more tightly suck the box (the existing technology often only sucks the top surface of the box), and such a structure will not affect the stacking of the box (the top and one side surface of the box will be outside during stacking). The electric turntable 111 can rotate the support plate 170. When the suction nozzle 180 sucks the box, the support plate 170 is rotated to the bottom of the box through the electric turntable 111. In this way, when the box is transferred to the stacking platform, the support plate 170 can support the box. The box is very stable during transfer and is not easy to fall. This is especially suitable for long-distance transfer, such as Figure 1 In the embodiment, the robot 110 needs to pass through the long moving platform 120. Through the dual stable structure of the suction nozzle 180 and the support plate 170, the transfer of the boxes is very stable. In addition, the gaps between the boxes are small during palletizing in this embodiment. Because the boxes are transferred by suction in this embodiment instead of the commonly used clamping, the suction device will not affect the gaps between the boxes during palletizing, while clamping will cause large gaps between the boxes during palletizing and may also damage the boxes.

[0037] The camera 190 can capture the image of the box and transmit it to the background processor. The background processor determines the status of the box based on image recognition technology (this technology is common in the prior art). If the box is intact or the sealing operation meets the requirements, the robot 110 can transfer the box to the stacking platform 140. If it does not meet the requirements, the box will be pushed away through the support plate 170.

[0038] The manipulator 110 comprises a base 112, a waist 113, an upper arm 114, a lower arm 115 and a wrist 116 which are rotatably connected in sequence, and an electric turntable 111 is mounted on the wrist 116. This is a common structure of the manipulator 110.

[0039] The mobile platform 120 includes a slide rail 121. The base 112 is mounted on the slide rail 121. A rack 122 is provided on the mobile platform 120. The rack 122 is engaged with a gear 123. The gear 123 is connected to a motor 124, and the motor 124 is installed on the base 112.

[0040] The motor 124 drives the gear 123 to rotate. The gear 123 is engaged with the rack 122. Since the rack 122 cannot move and the gear 123 can move, the motor 124 can drive the base 112 to move on the slide rail 121.

[0041] The electric telescopic rod 160 includes a fixed rod and a moving rod. The body of the fixed rod is attached to the mounting plate 150, and the head of the moving rod is connected to the support plate 170. This setting can facilitate the movement of the support plate 170.

[0042] The suction nozzle 180 on the mounting plate 150 is installed on the corresponding convex post. The length of the convex post is greater than the diameter of the electric telescopic rod 160. A plurality of convex rods 171 are provided on the outer side of the support plate 170, and the plurality of convex rods 171 are connected to a push plate 172.

[0043] The convex post is provided to protrude the suction nozzle 180 on the mounting plate 150. In this way, when the suction nozzle 180 sucks the box, it will not be affected by the electric telescopic rod 160.

[0044] The function of the push plate 172 is to facilitate pushing the unqualified boxes. Through the setting of the convex rods 171, there will be a gap between the push plate 172 and the support plate 170, and this gap facilitates the placement and installation of the ventilation pipe connected to the suction nozzle 180 on the support plate 170.

[0045] A tape sealing machine 210 is provided on the conveyor line 130. An operating table 220 is provided at one end of the conveyor line 130. An opening 221 is provided on the side of the operating table. A output line 230 corresponds to the opening 221, and the output direction of the output line 230 is perpendicular to the conveying direction of the conveyor line 130.

[0046] The tape sealing machine 210 is used for sealing the boxes. The boxes are conveyed through the conveyor line 130 and finally stop at the operating table 220. Then, the manipulator 110 operates on the boxes above the operating table 220. When the boxes are qualified, the manipulator 110 transfers and stacks the boxes. When the boxes are unqualified, the manipulator 110 pushes the boxes onto the output line 230 and conveys them away.

[0047] Limit strips 131 are provided on the conveyor line 130. The limit strips 131 can limit the position of the boxes during conveying.

[0048] This embodiment provides a method for packing and palletizing tiger skin chicken claws in production, which uses the above-mentioned equipment for packing and palletizing tiger skin chicken claws in production, and includes the following steps:

[0049] 1. After the tiger skin chicken feet are packed and sealed in boxes, they are conveyed to the manipulator 110 through the conveyor line 130;

[0050] After the tiger skin chicken feet are packed in boxes, they are sealed by the tape sealing machine 210, and then conveyed to the operation table 220. The manipulator 110 performs a sucking operation above the operation table 220.

[0051] 2. The manipulator 110 moves to the conveyor line 130 through the moving platform 120, and positions the mounting plate 150 above the box.

[0052] 3. The image of the box is captured by the camera 190, and the image is transmitted to the background for analysis to determine whether the box is intact and whether the box sealing meets the requirements. If the box meets the requirements, proceed to the next step; if not, move the mounting plate 150 so that the outside of the support plate 170 is located on the side of the box, and then push the box away;

[0053] If the box does not meet the requirements, the push plate 172 on the outside of the support plate 170 will push the box onto the output line 230 for conveyance.

[0054] 4. Lower the height of the mounting plate 150 so that the suction nozzle 180 on the mounting plate 150 adheres to the top surface of the box; then, contract the electric telescopic rod 160 so that the suction nozzle 180 on the support plate 170 adheres to the side surface of the box.

[0055] 5. Activate the suction nozzle 180 to suck the box, and then lift the box; after lifting, rotate the mounting plate 150 through the electric turntable 111 so that the support plate 170 rotates to the bottom of the box for support.

[0056] 6. The manipulator 110 moves to the palletizing station 140 through the moving platform 120.

[0057] 7. The manipulator 110 moves the box above the palletizing position, and rotates the box through the cooperation of the electric turntable 111 and the manipulator 110 so that the box is tilted, and the bottom edge of the box close to the support plate 170 is attached to the palletizing position (as shown in Figure 6 ); then, through the cooperation of the electric turntable 111 and the manipulator 110, rotate the box around the bottom edge close to the support plate 170 as the axis until the entire box is placed in the palletizing position.

[0058] 8. Stop the operation of the suction nozzle 180, the manipulator 110 returns to its position and resumes, and proceeds to the palletizing work of the next box.

[0059] The method of this embodiment can transfer qualified and compliant boxes to the palletizing table for palletizing through the manipulator 110. With the dual-stabilization structure of the suction nozzle 180 and the support plate 170, the transfer of the boxes is very stable. The suction nozzles 180 on the inner sides of the mounting plate 150 and the support plate 170 can suck the top and side surfaces of the boxes, which can hold the boxes more tightly and does not affect the palletizing of the boxes. The manipulator 110 can also push unqualified and non-compliant boxes onto the output line 230 to be sent away. The manipulator 110 not only has the functions of transfer and palletizing, but also has the functions of box identification and pushing boxes, which is very convenient.

[0060] The above schematically describes the present invention and its implementation manners. This description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and, without departing from the gist of the present invention, design similar structural manners and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. A packing and stacking equipment for tiger skin chicken feet production, characterized by: It includes a manipulator (110). The manipulator (110) is installed on a moving platform (120). One end of the moving platform (120) is correspondingly provided with a conveying line (130), and the other end of the moving platform (120) is correspondingly provided with a palletizing station (140). An electric turntable (111) is provided on the manipulator (110). An installation plate (150) is provided on the electric turntable (111). An electric telescopic rod (160) is attached to the installation plate (150). The rod head of the electric telescopic rod (160) is connected to a support plate (170). The support plate (170) is perpendicular to the installation plate (150). A plurality of suction nozzles (180) are respectively installed on the inner side of the installation plate (150) and the inner side of the support plate (170). A camera (190) is provided on the installation plate (150).

2. The case-packing and palletizing equipment for the production of marinated chicken feet according to claim 1, characterized in that: The manipulator (110) includes a base (112), a waist (113), a big arm (114), a small arm (115) and a wrist (116) which are sequentially rotationally connected. The electric turntable (111) is installed on the wrist (116).

3. A packing and palletizing device for the production of tiger skin chicken feet according to claim 2, characterized in that: The moving platform (120) includes a slide rail (121). The base (112) is mounted on the slide rail (121). A rack (122) is provided on the moving platform (120). The rack (122) is engaged with a gear (123). The gear (123) is connected to a motor (124). The motor (124) is installed on the base (112).

4. A packing and palletizing device for the production of marinated chicken feet according to claim 3, characterized in that: The electric telescopic rod (160) includes a fixed rod and a moving rod. The body of the fixed rod is attached to the installation plate (150), and the rod head of the moving rod is connected to the support plate (170).

5. The boxing and stacking equipment for tiger skin chicken feet production according to claim 4 is characterized in that: The suction nozzles (180) on the installation plate (150) are installed on corresponding convex columns. The length of the convex columns is greater than the diameter of the electric telescopic rod (160). A plurality of convex rods (171) are provided on the outer side of the support plate (170), and the plurality of convex rods (171) are connected to a push plate (172).

6. The packing and palletizing equipment for producing tiger skin chicken feet according to claim 5, characterized in that: A tape sealing machine (210) is provided on the conveying line (130). An operating table (220) is provided at one end of the conveying line (130). An opening (221) is provided on the side of the operating table. A corresponding output line (230) is provided for the opening (221). The output direction of the output line (230) is perpendicular to the conveying direction of the conveying line (130).

7. A packing and palletizing device for the production of tiger skin chicken claws according to claim 6, characterized in that: A limiting strip (131) is provided on the conveying line (130).

8. A method for packing and palletizing the production of tiger-skin flavored chicken claws, characterized in that: It adopts a packing and palletizing device for producing marinated chicken feet as described in any one of claims 1-7, and includes the following steps: First, after the marinated chicken feet are packed and sealed, they are conveyed to the manipulator (110) through the conveying line (130). Second, the manipulator (110) moves to the conveying line (130) through the moving platform (120), and makes the installation plate (150) located above the box. Third, the image of the box is captured by the camera (190), and the image is transmitted to the background for analysis to judge whether the box is complete and whether the box sealing meets the requirements. If the box meets the requirements, the next step is carried out. If not, the installation plate (150) is moved to make the outer side of the support plate (170) located on the side of the box, and then the box is pushed away. IV. Lower the height of the mounting plate (150) so that the suction nozzle (180) on the mounting plate (150) adheres to the top surface of the box; then, contract the electric telescopic rod (160) so that the suction nozzle (180) on the support plate (170) adheres to the side surface of the box; V. Make the suction nozzle (180) work to suck the box, and then lift the box; after lifting, rotate the mounting plate (150) through the electric turntable (111) so that the support plate (170) rotates to the lower part of the box for support; VI. The manipulator (110) moves to the palletizing station (140) through the moving platform (120); VII. The manipulator (110) moves the box above the palletizing position, and rotates the box through the cooperation of the electric turntable (111) and the manipulator (110) to make the box inclined, and make the bottom edge of the box close to the support plate (170) adhere to the palletizing position; then, through the cooperation of the electric turntable (111) and the manipulator (110), rotate the box with the bottom edge close to the support plate (170) as the axis until the whole box is placed in the palletizing position; VIII. Stop the suction nozzle (180) from working, the manipulator (110) returns to the position and resumes, and proceeds to the next box palletizing operation.

9. A method for packing and palletizing salted and baked chicken feet according to claim 8, characterized in that: In step I, after the marinated chicken feet are packed in the box, they are sealed by the tape sealing machine (210), and then conveyed to the operating table (220), and the manipulator (110) performs the suction operation above the operating table (220).

10. A method for packing and palletizing salted and spiced chicken feet production according to claim 9, characterized in that: In step III, if the box does not meet the requirements, the push plate (172) outside the support plate (170) will push the box onto the output line (230) for conveyance.

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