Food packaging device

Abstract

The invention discloses a food packaging device which comprises a can conveying device which comprises a conveying frame, a conveying belt wound around the conveying frame, a sliding rail arranged in the extending direction of the conveying belt and a conveying motor for driving the conveying belt to operate. The can frame is used for bearing a plurality of cans and sliding along the sliding rail; the machine base is used for supporting the filling device and the filling tank; the filling device is installed on the machine base, comprises an x-axis linear module, a y-axis linear module connected with the x-axis linear module in a sliding mode, a z-axis linear module connected with the y-axis linear module and a filling head installed on the z-axis linear module, and is used for accurately filling the tin can with materials; and the filling tank is connected with the filling head through a communicating pipe and is used for storing the to-be-filled material. According to the food packaging device, through automatic cooperative operation of all links, the manual operation steps are reduced, the continuous and efficient proceeding of the food filling process is achieved, and meanwhile the filling precision can be stably guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of food packaging, and in particular to a food packaging device. Background Art

[0002] In the field of canned food production, automated filling equipment often faces a lack of versatility. Traditional filling equipment often features fixed conveyor and positioning mechanisms and filling components. This necessitates manual adjustments to conveyor track spacing, positioning components, and filling head alignment parameters when switching between cans or racks of varying sizes. This process is not only time-consuming and labor-intensive, but also relies heavily on operator experience. Adjustment errors can easily lead to inaccurate filling alignment, resulting in material overflow or uneven filling volumes. Furthermore, frequent manual intervention disrupts production continuity and reduces overall efficiency. This is particularly problematic in high-variety, small-batch production scenarios, making it difficult to meet the flexibility and efficiency demands of modern production lines. Summary of the Invention

[0003] The present application aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, the purpose of this application is to propose a food packaging device that reduces manual operation steps through the automated coordinated operation of each link, realizes the continuous and efficient implementation of the food filling process, and at the same time can stably ensure the accuracy of filling.

[0005] To achieve the above objectives, the present application proposes a food packaging device, comprising: A can conveying device, comprising a conveying frame, a conveyor belt wound around the conveying frame, a slide rail arranged along the extending direction of the conveyor belt, and a conveying motor driving the conveyor belt; a can rack, carrying a plurality of cans and sliding along the slide rail; Machine base, supporting the filling device and filling tank; a filling device, mounted on the machine base, comprising an x-axis linear module, a y-axis linear module slidably connected to the x-axis linear module, a z-axis linear module connected to the y-axis linear module, and a filling head mounted on the z-axis linear module, for accurately filling the can with material; The filling tank is connected to the filling head via a connecting pipe and stores the material to be filled.

[0006] The food packaging device of the present application reduces manual operation steps through the automated coordinated operation of each link, realizes the continuous and efficient progress of the food filling process, and can stably ensure the accuracy of filling.

[0007] In addition, the food packaging device proposed in the present application may also have the following additional technical features: Specifically, the transmission motor includes: a bottom frame, fixed to the conveying frame; a slider, slidably connected to the base frame; A horizontal mounting frame connecting the slider and the vertical mounting frame; The horizontal fixing head and the vertical fixing head are respectively arranged on the vertical mounting frame and are used for positioning the can rack.

[0008] Specifically, the filling device realizes horizontal movement along the x-direction through the x-axis linear module, realizes horizontal movement along the y-direction through the y-axis linear module, and drives the filling head to move up and down along the z-direction through the z-axis linear module.

[0009] Specifically, a flow control valve is provided between the bottom outlet of the filling tank and the connecting pipe, and the flow control valve includes: The valve body is connected in series to the connection between the bottom of the tank and the connecting pipe; The valve core is built into the valve body to realize the closing and opening of the flow channel; The driving part is connected to the valve core and is used to control the movement of the valve core to adjust the material conveying flow.

[0010] Specifically, the can rack is slidably connected to the slide rail, transported along the conveyor belt, and is positioned and locked by the transverse fixed head and the longitudinal fixed head of the conveying motor.

[0011] Specifically, the cans are arranged in an array on the can rack and are fixed relative to the can rack via the horizontal fixing heads and the vertical fixing heads.

[0012] Specifically, the x-axis linear module includes: an x-axis guide rail extending in a horizontal direction and fixed to the machine base; an x-axis slider slidably engaged with the x-axis guide rail; An x-axis driving member driving the x-axis slider to move along the x-axis guide rail, wherein the y-axis linear module is fixed to the x-axis slider; The Y-axis linear module includes: a y-axis guide rail extending horizontally and perpendicular to the x-axis, fixed to the x-axis slider; a y-axis slider slidably engaged with the y-axis guide rail; A y-axis driving member driving the y-axis slider to move along the y-axis guide rail, and the z-axis linear module is fixed to the y-axis slider; The z-axis linear module includes: a z-axis guide rail extending in a vertical direction and fixed to the y-axis slider; a z-axis slider slidably engaged with the z-axis guide rail; A z-axis driving member drives the z-axis slider to rise and fall along the z-axis guide rail, and the filling head is detachably connected to the z-axis slider.

[0013] Specifically, the x-axis driving element, the y-axis driving element, and the z-axis driving element are electrically connected to the same control system and are collaboratively controlled through a preset program to achieve precise positioning of the filling head in three-dimensional space.

[0014] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 This is a schematic structural diagram of a food packaging device according to an embodiment of the present application; Figure 2 This is a schematic structural diagram of a conveying device in a food packaging device according to one embodiment of the present application; Figure 3 This is a schematic structural diagram of a can rack in a food packaging device according to one embodiment of the present application; Figure 4 This is a schematic structural diagram of a filling device in a food packaging device according to an embodiment of the present application; Figure 5 This is a schematic structural diagram of a can rack in a food packaging device according to an embodiment of the present application.

[0016] As shown in the figure: 1. Can conveying device; 2. Can rack; 3. Machine base; 4. Filling device; 5. Filling can; 6. Connecting pipe; 7. Can box; 101. Conveyor rack; 102. Conveyor belt; 103. Slide rail; 104. Conveyor motor; 1041. Base frame; 1042. Slide block; 1043. Horizontal mounting frame; 1044. Vertical mounting frame; 1045. Horizontal fixed head; 1046. Vertical fixed head; 401. X-axis linear module; 402. Y-axis linear module; 403. Z-axis linear module; 404. Filling head. DETAILED DESCRIPTION

[0017] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the present application include all variations, modifications, and equivalents that fall within the spirit and scope of the appended claims.

[0018] The food packaging device according to the embodiment of the present application will be described below with reference to the accompanying drawings.

[0019] like Figure 1-Figure 5 As shown, the can conveying device 1 of an embodiment of the present application is used to convey a can rack 2, including a conveying rack 101, a conveyor belt 102 wound around the conveying rack 101, a slide rail 103 arranged along the extension direction of the conveyor belt 102, and a conveying motor 104 for driving the conveyor belt 102 to run.

[0020] Can rack 2 carries multiple cans 7 and slides along the slide rail 103 .

[0021] Machine base 3: supports the filling device 4 and the filling tank 5.

[0022] Filling device 4: installed on the machine base 3, including an x-axis linear module 401, a y-axis linear module 402 slidably connected to the x-axis linear module 401, a z-axis linear module 403 connected to the y-axis linear module 402, and a filling head 404 installed on the z-axis linear module 403, for accurately filling materials into the can 7.

[0023] Filling tank 5: connected to the filling head 404 through the connecting pipe 6, storing the material to be filled.

[0024] Specifically, the operator places the can rack 2 loaded with cans 7 on the conveyor belt 102. The conveyor motor 104 is started to drive the conveyor belt 102 to operate, and the can rack 2 slides along the slide rail 103 to be transported to the filling station.

[0025] The x-axis linear module 401 drives the filling head 404 to move along the horizontal x-direction, and the y-axis linear module 402 simultaneously makes fine adjustments along the horizontal y-direction, and together they position the filling head 404 directly above the can 7 .

[0026] The z-axis linear module 403 drives the filling head 404 to descend vertically, close to the opening of the can 7, and completes the alignment before filling.

[0027] The material in the filling tank 5 is transported to the filling head 404 through the connecting pipe 6, and the material is injected into the can 7 through flow control such as valve opening and closing and pump speed regulation. When the filling volume reaches the preset value, the feeding is stopped by sensor or program control.

[0028] The z-axis linear module 403 drives the filling head 404 to rise vertically and separate from the can 7.

[0029] In one embodiment of the present application, the conveying motor 104 includes: The base frame 1041 is fixed to the conveying frame 101 .

[0030] The slider 1042 is slidably connected to the base frame 1041 .

[0031] The horizontal mounting frame 1043 connects the slider 1042 and the vertical mounting frame 1044 .

[0032] The horizontal fixing head 1045 and the vertical fixing head 1046 are respectively provided on the vertical mounting frame 1044 for positioning the can rack 2 .

[0033] Specifically, according to the size of the can rack 2 to be processed, such as the length, width, and arrangement spacing of the cans 7, the operator loosens the locking members of the horizontal mounting frame 1043 and the vertical mounting frame 1044, such as the fastening bolts.

[0034] Push the slider 1042 to slide along the base frame 1041, driving the horizontal mounting frame 1043 to move horizontally, so that the spacing of the horizontal fixing heads 1045 matches the side width of the can rack 2, ensuring that they can fit both sides of the can rack 2 when locked. The relative positions of the longitudinal mounting frame 1044 and the transverse mounting frame 1043 are adjusted so that the extended length of the longitudinal fixing head 1046 matches the depth of the end positioning groove of the can rack 2 to ensure a secure engagement during longitudinal locking.

[0035] After the adjustment is completed, the locking parts are re-locked to fix the positions of the horizontal and vertical mounting racks to form exclusive positioning dimensions for the current can rack 2. The parameters can be recorded through scale marks to facilitate the rapid reuse of subsequent can racks of similar specifications. According to the array arrangement of the cans 7 on the can rack 2, such as the number of rows and columns and the spacing coordinates, the operator enters preset position parameters, such as the x / y axis coordinates of each can, into the control system. The control system uses preset parameters to drive the x-axis linear module 401 and the y-axis linear module 402, which then moves the filling head 404 to the theoretical coordinate position of the first can 7. The operator observes the alignment deviation and manually fine-tunes the module position to precisely align the filling head 404 with the center of the can 7 opening. After calibration, the actual coordinates are saved as a reference. Starting from the reference coordinates, the system automatically calculates and drives the filling head 404 to move to the positions of other cans 7 in sequence according to the preset row and column spacing parameters, completing the filling position mapping of the entire group of cans, ensuring that each can can be accurately filled. When replacing can racks of different specifications, call the corresponding preset parameter group and repeat the pre-alignment calibration steps to quickly complete the filling position adaptation without the need to re-debug point by point.

[0036] In one embodiment of the present application, the filling device 4 realizes horizontal movement along the x direction through the x-axis linear module 401, realizes horizontal movement along the y direction through the y-axis linear module 402, and drives the filling head 404 to move up and down along the z direction through the z-axis linear module 403.

[0037] Specifically, when the filling device 4 is not started, the x-axis linear module 401 and the y-axis linear module 402 are at their initial origin positions, and the z-axis linear module 403 drives the filling head 404 to the highest position, maintaining a safe distance from the can rack 2, waiting for the filling signal. When the can rack 2 is positioned and locked at the filling station, the control system calls the preset coordinate parameters of the can box 7: The x-axis linear module 401 moves along the horizontal x-direction, driving the y-axis linear module 402 and the filling head 404 to translate as a whole, and initially aligning with the horizontal position of the target can 7 . The y-axis linear module 402 is fine-tuned along the horizontal y direction, perpendicular to the x-axis, so that the filling head 404 is precisely aligned with the longitudinal center of the target can 7, completing the horizontal alignment. After the horizontal positioning is completed, the z-axis linear module 403 drives the filling head 404 to descend along the vertical z direction until the filling head 404 is close to the opening of the can 7, maintaining a preset safety gap to avoid collision, and preparing for filling. After the material filling is completed: the z-axis linear module 403 first drives the filling head 404 to rise along the z direction and return to the high position.

[0038] The x-axis and y-axis linear modules work together again to drive the filling head 404 to move to the horizontal coordinate position of the next can 7, and repeat the cycle of "z-axis descending to filling direction to z-axis rising" until all cans on the current can rack 2 are filled. When a group of cans 7 are all filled, the x-axis linear module 401 and the y-axis linear module 402 drive the filling head 404 back to the initial origin position, and the z-axis linear module 403 keeps the filling head 404 at a high position, waiting for the next can rack 2 to enter the work station and start a new round of filling process.

[0039] In one embodiment of the present application, a flow control valve is provided between the bottom outlet of the filling tank 5 and the connecting pipe 6, and the flow control valve includes: The valve body is connected in series at the connection between the bottom of the tank body and the connecting pipe 6.

[0040] The valve core is built into the valve body and closes and opens the flow channel by rotation or translation.

[0041] The driving part is connected to the valve core and is used to control the movement of the valve core to adjust the material conveying flow.

[0042] Specifically, when the flow control valve is not started, the valve core is in a closed state, blocking the flow passage between the filling tank 5 and the connecting pipe 6, the material is temporarily stored in the filling tank 5, and the valve body remains sealed to prevent material leakage.

[0043] When the filling head 404 moves to the top of the target can 7 through the x / y / z axis linear module and completes the alignment, that is, the z axis descends to the preset filling height, the control system sends an opening signal to the driving component of the flow control valve. After receiving the signal, the driving component, such as the solenoid valve or servo motor, drives the valve core to rotate or translate, opens the valve body flow channel, and the material in the filling tank 5 flows into the connecting pipe 6 through the valve body, and finally is injected into the can 7 through the filling head 404.

[0044] The actuator dynamically adjusts the valve core opening according to the preset filling volume parameters: the opening can be increased in the initial stage to quickly fill, and the opening can be reduced when approaching the preset volume. By precisely controlling the flow channel cross-sectional area, the flow rate can be fine-tuned to avoid overfilling. When the material in the can 7 reaches a preset weight or volume, detected by a weighing sensor or a flow metering device, the control system sends a closing signal to the driving member. The driving member drives the valve core to move in the reverse direction, completely closing the flow channel and cutting off material transportation. During the closing process, the valve core fits tightly against the sealing surface of the valve body, and cooperates with the pipeline design of the connecting pipe 6, such as the end back suction structure, to reduce the material residue in the valve body and the pipeline, and prevent dripping and contamination of the can 7 or equipment.

[0045] After one filling is completed, the flow control valve keeps the valve core closed and waits for the opening signal after the next filling head 404 is aligned. The above process is repeated with the cyclic operation of the filling device.

[0046] In one embodiment of the present application, the can rack 2 is slidably connected to the slide rail 103 , transported along the conveyor belt 102 , and is positioned and locked by the transverse fixing head 1045 and the longitudinal fixing head 1046 of the conveying motor 104 .

[0047] When the flow control valve is on standby, the valve core is closed, blocking the flow passage between the filling tank 5 and the connecting pipe 6, temporarily storing the material and the valve body is sealed to prevent leakage.

[0048] After the filling head 404 is aligned, the control system sends an opening signal to the driving member.

[0049] The driving member drives the valve core to open the flow channel, and the material is injected into the can 7 through the connecting pipe 6 and the filling head 404, and the valve core opening is dynamically adjusted according to the preset amount.

[0050] When the material reaches the preset amount, the control system sends a shutdown signal.

[0051] The driving member drives the valve core to reset and close the flow channel, reducing residual anti-drip.

[0052] After completion, the system remains closed and waits for the next open signal to cycle operations. Core collaborative logic: forms a closed loop with the filling head positioning and metering system to achieve quantitative and residue-free filling, adapting to a variety of materials.

[0053] In one embodiment of the present application, the cans 7 are arranged in an array on the can rack 2 and are fixed relative to the can rack 2 via the horizontal fixing heads 1045 and the vertical fixing heads 1046 .

[0054] Specifically, cans 7 are pre-placed in an array at corresponding stations on the can rack 2. When the can rack 2 is transported to the filling station and positioned, the horizontal fixing heads 1045 of the conveying motor 104 press against the sides of the cans 7, while the vertical fixing heads 1046 engage the ends of the cans 7 longitudinally, securing the cans 7 relative to the can rack 2. After filling is complete, the horizontal and vertical fixing heads return to their original positions, and the cans 7 continue to be transported along with the can rack 2.

[0055] In one embodiment of the present application, the x-axis linear module 401 includes: The x-axis guide rail extending in the horizontal direction is fixed to the machine base 3 .

[0056] An x-axis slider that slides with the x-axis guide rail.

[0057] The x-axis driving member drives the x-axis slider to move along the x-axis guide rail, and the y-axis linear module 402 is fixed to the x-axis slider.

[0058] The y-axis linear module 402 includes: The y-axis guide rail extends horizontally and perpendicular to the x-axis and is fixed to the x-axis slider.

[0059] A y-axis slider that slides with the y-axis guide rail.

[0060] The y-axis driving component drives the y-axis slider to move along the y-axis guide rail, and the z-axis linear module 403 is fixed to the y-axis slider.

[0061] The z-axis linear module 403 includes: The z-axis guide rail extends vertically and is fixed to the y-axis slider.

[0062] A z-axis slider that slides with the z-axis guide rail.

[0063] The z-axis driving member drives the z-axis slider to move up and down along the z-axis guide rail, and the filling head 404 is detachably connected to the z-axis slider.

[0064] Specifically, in the initial state, the x-, y-, and z-axis sliders are all located at the origins of their respective guide rails, and the filling head 404 is at the initial position.

[0065] After starting, the x-axis driving member drives the x-axis slider to move along the x-axis guide rail, driving the y-axis linear module 402 to adjust the lateral position as a whole.

[0066] The y-axis driving member drives the y-axis slider to move along the y-axis guide rail, driving the z-axis linear module 403 to adjust the longitudinal position so that the filling head 404 is aligned with the horizontal coordinate of the can 7.

[0067] The z-axis driving member drives the z-axis slider to move up and down along the z-axis guide rail, driving the filling head 404 to move closer to or away from the can 7.

[0068] After the filling is completed, each shaft driving member drives the slider in the reverse direction to reset and wait for the next cycle, and the filling head 404 can be disassembled and replaced to adapt to different specifications.

[0069] In one embodiment of the present application, the x-axis drive, the y-axis drive, and the z-axis drive are electrically connected to the same control system and are collaboratively controlled by a preset program to achieve precise positioning of the filling head 404 in three-dimensional space.

[0070] Specifically, the operator enters a preset program for the three-dimensional coordinates of the can 7 into the control system. The control system is electrically connected to the x-, y-, and z-axis drivers and initiates the program upon receiving a signal from the filling station. The system synchronously sends commands to each driver, collaboratively controlling the lateral movement of the x-axis slider, the longitudinal movement of the y-axis slider, and the elevation of the z-axis slider, allowing the filling head 404 to follow a preset trajectory. Real-time feedback adjusts the deviations in the movements of each axis to achieve precise alignment of the filling head 404 with the can 7 in three dimensions. After a single set of filling is completed, the system calls the next set of coordinate programs, repeating the collaborative control process.

[0071] In actual use, the operator first arranges cans 7 in an array at the corresponding stations of the can rack 2. The rack 2, loaded with cans 7, is then placed on the conveyor belt 102. The can rack 2 is then slidably connected to the slide rails 103. The conveyor motor 104 is activated, driving the conveyor belt 102, and the can rack 2 slides along the slide rails 103 toward the filling station. When the can rack 2 reaches the filling station, the horizontal fixing head 1045 of the conveying motor 104 presses against the side of the can rack 2 and the side of the can box 7, and the vertical fixing head 1046 engages the end of the can rack 2 and the end of the can box 7 longitudinally, thereby locking the can rack 2 and the can box 7 in position.

[0072] The control system calls up the preset coordinate parameters for can 7. The x-axis driver drives the x-axis slider along the x-axis guide rail, causing the y-axis linear module 402 to adjust its lateral position. The y-axis driver drives the y-axis slider along the y-axis guide rail, causing the z-axis linear module 403 to adjust its longitudinal position, aligning the filling head 404 with the horizontal coordinates of can 7. The z-axis driver then drives the z-axis slider down along the z-axis guide rail, driving the filling head 404 toward the opening of can 7. After the filling head 404 is aligned, the control system sends an opening signal to the driving part of the flow control valve. The driving part drives the valve core to open the flow channel. The material in the filling tank 5 is injected into the can box 7 through the valve body, connecting pipe 6, and filling head 404, and the valve core opening is dynamically adjusted according to the preset amount. When the material in the can 7 reaches a preset amount, the control system sends a closing signal to the driving member, and the driving member drives the valve core to reset and close the flow channel to reduce residual anti-drip. After filling is completed, the z-axis linear module 403 drives the filling head 404 to rise back to the high position along the z direction, and the x-axis and y-axis linear modules work together to drive the filling head 404 to move to the position of the next can 7. The above alignment and filling process is repeated until all cans on the current can rack 2 are filled. After the entire group of cans 7 is filled, the x-axis linear module 401 and the y-axis linear module 402 drive the filling head 404 back to its initial position, while the z-axis linear module 403 maintains the filling head 404 in the elevated position. Simultaneously, the horizontal and vertical fixed heads 1045 and 1046 are reset and unlocked, and the can rack 2 continues to be transported along the conveyor belt 102 to the next station, waiting for the next can rack 2 to enter the station and begin a new cycle.

[0073] In summary, the food packaging device of the embodiment of the present application reduces manual operation steps through the automated coordinated operation of each link, realizes the continuous and efficient implementation of the food filling process, and can stably ensure the accuracy of filling.

[0074] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0075] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0076] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and deform the above embodiments within the scope of the present application.

Claims

1. A food packaging device, characterized in that: include: A canned food conveying device (1) comprises a conveying frame (101), a conveyor belt (102) wound around the conveying frame (101), a slide rail (103) arranged along the extending direction of the conveyor belt (102), and a conveying motor (104) for driving the conveyor belt (102); A can rack (2) carrying a plurality of cans (7) and sliding along the slide rail (103); A machine base (3) supporting the filling device (4) and the filling tank (5); A filling device (4) is mounted on the machine base (3), comprising an x-axis linear module (401), a y-axis linear module (402) slidably connected to the x-axis linear module (401), a z-axis linear module (403) connected to the y-axis linear module (402), and a filling head (404) mounted on the z-axis linear module (403); The filling tank (5) is connected to the filling head (404) via a connecting pipe (6) and stores the material to be filled.

2. The food packaging device according to claim 1, wherein The transmission motor (104) includes: A bottom frame (1041) is fixed to the conveying frame (101); A slider (1042) is slidably connected to the base frame (1041); A horizontal mounting frame (1043) connecting the slider (1042) and the vertical mounting frame (1044); A horizontal fixing head (1045) and a vertical fixing head (1046) are respectively arranged on the vertical mounting frame (1044) and are used to position the can rack (2).

3. The food packaging device according to claim 1, wherein The filling device (4) realizes horizontal movement along the x-direction through the x-axis linear module (401), realizes horizontal movement along the y-direction through the y-axis linear module (402), and drives the filling head (404) to move up and down along the z-direction through the z-axis linear module (403).

4. The food packaging device according to claim 1, wherein A flow control valve is provided between the bottom outlet of the filling tank (5) and the connecting pipe (6), and the flow control valve comprises: The valve body is connected in series to the connection between the bottom of the tank body and the connecting pipe (6); The valve core is built into the valve body to realize the closing and opening of the flow channel; The driving part is connected to the valve core and is used to control the movement of the valve core to adjust the material conveying flow.

5. The food packaging device according to claim 1, wherein The can rack (2) is slidably connected to the slide rail (103), transported along the conveyor belt (102), and positioned and locked by the transverse fixing head (1045) and the longitudinal fixing head (1046) of the conveying motor (104).

6. The food packaging device according to claim 4, characterized in that The cans (7) are arranged in an array on the can rack (2) and are fixed relative to the can rack (2) via the transverse fixing heads (1045) and the longitudinal fixing heads (1046).

7. The food packaging device according to claim 3, characterized in that The x-axis linear module (401) comprises: An x-axis guide rail extending in the horizontal direction and fixed to the machine base (3); an x-axis slider slidably engaged with the x-axis guide rail; An x-axis driving member drives the x-axis slider to move along the x-axis guide rail, and the y-axis linear module (402) is fixed to the x-axis slider; The Y-axis linear module (402) includes: a y-axis guide rail extending horizontally and perpendicular to the x-axis, fixed to the x-axis slider; a y-axis slider slidably engaged with the y-axis guide rail; A y-axis driving member driving the y-axis slider to move along the y-axis guide rail, wherein the z-axis linear module (403) is fixed to the y-axis slider; The z-axis linear module (403) comprises: a z-axis guide rail extending in a vertical direction and fixed to the y-axis slider; a z-axis slider that slidably cooperates with the z-axis guide rail; A z-axis driving component drives the z-axis slider to move up and down along the z-axis guide rail, and the filling head (404) is detachably connected to the z-axis slider.

8. The food packaging device according to claim 3, wherein The x-axis drive, y-axis drive, and z-axis drive are electrically connected to the same control system and are collaboratively controlled through a preset program to achieve precise positioning of the filling head (404) in three-dimensional space.

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