Automatic stacking equipment used after food bag packaging

Abstract

The invention discloses automatic stacking equipment after food bag packaging, relates to the technical field of stacking, aims to solve the technical problem of low stacking efficiency after food bag packaging, and comprises a stacking mechanical arm, a base body, a stacking mechanism and a conveying system. By designing the structural design of the stacking mechanism, when a pressing block completely enters an adaptive sliding groove and is separated from clamping plates, the multiple clamping plates make contact with the eccentric end of a movable groove under the tensile force of an elastic unit, so that clamping plate units form a straight plate structure, and a hexagonal clamping cavity can be defined by the multiple clamping plate units; when a pressing block slides to make contact with a clamping plate and pushes the clamping plate to make contact with the arc face of the centripetal end of a movable groove, clamping plate units form an arc-plate-like structure, the multiple clamping plate units can define a circular clamping cavity, and the clamping plate units are clamped in the clamping cavity. The food bag stacking device is used for stacking packaged food bags in a round boutique box, and the stacking efficiency of the packaged food bags is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacking, more particularly to an automatic stacking device for food bag after packaging. BACKGROUND

[0002] In the food processing industry, packaged food bags such as snack bags, rice and flour packaging bags, etc. need to be integrated and stored through the stacking process. Some packaged food bags also need to be packaged in final containers such as boutique boxes to meet the standardization needs of the warehousing, transportation and sales links. Among them, the circular and hexagonal boutique boxes are favored by the public due to their good appearance. With the development of the food industry, the efficiency, adaptability and stacking regularity of the stacking link have become key factors affecting production rhythm and product quality.

[0003] The existing suction cup type stacking device can only adsorb several food bags arranged linearly at a time when dealing with complex stacking patterns and multi-layer stacking. Moreover, the stacking of food bags is disorganized, which makes it difficult to fully utilize the space of the boutique box. This not only reduces the efficiency of warehousing and transportation, but also easily causes displacement or even collapse of the stacked food bags. Therefore, there is a need for an automatic stacking device for food bags after packaging. SUMMARY

[0004] The present application aims to provide an automatic stacking device for food bags after packaging to solve the technical problem of low stacking efficiency after packaging.

[0005] To solve the above technical problems, the present application provides the following technical solution: an automatic stacking device for food bags after packaging, comprising a stacking manipulator, a base body fixed to the movable end of the stacking manipulator, a stacking mechanism arranged on the base body, and a conveying system arranged below the stacking mechanism. The stacking mechanism comprises a fixed disc fixed to the bottom end of the base body, a plurality of centripetal sliding grooves arranged at the top end of the fixed disc in a ring-shaped and equidistant manner, a sliding rod slidingly arranged in the centripetal sliding grooves, an eccentric end of the sliding rod fixedly provided with an arc block, an active slot arranged at the bottom end of the arc block, the active slot having an arc surface structure at the centripetal end, an adaptive sliding groove arranged at the eccentric end of the active slot, two groups of arc grooves arranged at the top end of the active slot in a symmetrical structure, each group of arc grooves comprising a plurality of arc grooves arranged in a linear and equidistant manner, and a rotating rod A rotatably arranged at the middle part of the top end of the active slot. The active slot is provided with a clamping plate unit, the clamping plate unit comprises a plurality of clamping plates arranged at positions corresponding to the arc grooves, any two adjacent clamping plates are rotatably connected, the rotating rod A is rotatably connected with the corresponding clamping plate, and the top end of the clamping plate is elastically connected with the corresponding arc groove through an elastic unit.

[0006] Preferably, the substrate has an installation cavity A and an installation cavity B, and the bottom end of the substrate has a circular groove.

[0007] Preferably, the elastic unit includes an arc-shaped spring, one end of which is rotatably connected to the top of the clamping plate via a rotating rod B, and the other end of which is rotatably connected to the arc groove via a rotating rod C.

[0008] Preferably, the palletizing mechanism further includes a motor B, a rotating tube, a gear ring, and a threaded rod. The motor B is fixedly mounted in the mounting cavity B. The rotating tube is rotatably mounted at the top of the circular groove. The gear ring is fixedly mounted at the bottom of the rotating tube. The bottom of the gear ring has several oblique guide grooves with an annular, equally spaced structure. The radial end of the slide rod has a movable column. The tops of several movable columns are movably connected to several oblique guide grooves. A lifting slide groove is provided at the center of the fixed plate. A gear is meshed with one side of the gear ring. The gear is rotatably connected to the top of the circular groove. The top of the gear shaft passes through the mounting cavity B and is fixedly connected to the output shaft of the motor B. The threaded rod is rotatably mounted at the eccentric end of the arc block. A threaded block is fixedly mounted at the eccentric end of the threaded rod. The radial end of the threaded rod passes through the adaptive slide groove and is threadedly connected to the pressure block.

[0009] Preferably, the centripetal end of the pressure block is provided with a plurality of pressure grooves relative to the positions of the clamping plates, and the pressure grooves are movably engaged with the clamping plates.

[0010] Preferably, the palletizing mechanism further includes a pressing module, which includes a motor A, a threaded slide column, and a pressing assembly. The motor A is fixedly installed in the mounting cavity A, the threaded slide column is slidably installed on the lifting slide groove, and a lead screw A is threadedly connected to the top of the threaded slide column. The top of the lead screw A passes through the mounting cavity A and is fixedly connected to the output shaft of the motor A. The pressing assembly is located at the bottom of the threaded slide column.

[0011] Preferably, the pressing component includes a circular block A and a plurality of slip rings A arranged in an inner and outer structure. The circular block A is disposed at the bottom end of the threaded sliding column. Any two adjacent slip rings A are slidably connected. The slip ring A located on the inner side is slidably connected to the circular block A. A plurality of limiting grooves A are opened on the inner edge surface of the slip ring A. A limiting slider A is slidably disposed in the limiting groove A. The limiting slider A is fixedly connected to the corresponding slip ring A or circular block A.

[0012] Preferably, the conveying system includes a placement mechanism, a pushing mechanism, a conveyor belt mechanism, and a positioning conveying mechanism; the placement mechanism includes a base frame A, a U-shaped connecting block fixedly disposed at the top of the base frame A, a stop block detachably and fixedly connected to one side of the U-shaped connecting block, and a circular cavity extending into the base frame A at the top of the U-shaped connecting block, with a lifting component disposed on the circular cavity; the pushing mechanism includes a frame B disposed on one side of the base frame A; the conveyor belt mechanism is disposed in the gap between the frame B and the base frame A, a plurality of upright plates are uniformly fixedly disposed on the conveyor belt of the conveyor belt mechanism, and a baffle is fixedly disposed on the side of the conveyor belt mechanism near the base frame A; the positioning conveying mechanism is perpendicularly disposed on the side of the conveyor belt mechanism away from the base frame A relative to the baffle.

[0013] Preferably, the lifting assembly includes a circular block B, a plurality of slip rings B arranged in an inner and outer structure, a threaded sleeve rod, and a motor C. The circular block B is located at the top of the circular cavity. Any two adjacent slip rings B are slidably connected. The slip ring B located on the inner side is slidably connected to the circular block B, and the slip ring B located on the outer side is fixedly connected to the top of the circular cavity. A plurality of limiting grooves B are formed on the inner edge surface of the slip rings B. A limiting slider B is slidably arranged in the limiting grooves B. The limiting slider B is fixedly connected to the corresponding slip ring B or circular block B. The threaded sleeve rod is fixedly located at the top of the circular block B. A lead screw B is threadedly connected to the bottom end of the threaded sleeve rod. The motor C is fixedly located at the bottom end of the circular cavity, and the output shaft of the motor C is fixedly connected to the bottom end of the lead screw B.

[0014] Preferably, a movable module is fixedly provided at the top of the frame B, and a mounting base is fixedly provided at the top of the movable module. Several connecting rods are fixedly provided in a linear and equally spaced structure at one end of the mounting base near the base A. A push block is detachably and fixedly connected to one end of the connecting rods near the base A.

[0015] The beneficial effects of this invention are: 1. This invention, through the structural design of the palletizing mechanism, allows the pressure block to fully enter the adaptive groove and detach from the clamping plate. Under the tension of the elastic unit, several clamping plates contact the eccentric end of the movable groove, causing the clamping plate unit to form a straight plate structure. This allows several clamping plate units to form a hexagonal cavity for palletizing food bags in a hexagonal premium box after packaging. When the pressure block slides to contact the clamping plate and pushes the clamping plate to contact the arc surface of the inward end of the movable groove, the clamping plate unit forms a near-arc plate structure, allowing several clamping plate units to form a circular cavity for palletizing food bags in a circular premium box after packaging. This structure allows packaged food bags to be laid layer by layer in a circular or hexagonal premium box, greatly improving the palletizing efficiency of packaged food bags.

[0016] 2. This invention also designs the structures of the pressing and lifting components. In the initial state, under the gravity of several slip rings A, the pressing component forms a conical space. Through the structural setting of the lifting component, the limiting slider B is located at the lower end of the limiting groove B, and the circular block B and several slip rings B form a planar structure for placing several packaged food bags. When several clamping units hold multiple packaged food bags, the external control mechanism controls the output shaft of the motor C to rotate, causing the circular block B to rise. The circular block B and several slip rings B rise sequentially from the inside to the outside, lifting the multiple packaged food bags sequentially from the inside to the outside, and forming a conical space with the pressing component. When the bottom of the packaging is in contact, the squeezing force of the outer food bag on the inner food bag is upward. This prevents the disorderly squeezing force between the food bags after several clamping units hold multiple packages from squeezing them off, and further improves the efficiency of transporting the packaged food bags. When the palletizing mechanism puts several food bags into the premium box, the output shaft of motor A is rotated by the external control mechanism. The circular block A and several slip rings A descend sequentially from the inside to the outside, pushing down the multiple food bags held by several clamping units until several limit sliders A slide to the bottom of several limit grooves A respectively. The clamping units form a planar structure, pressing the multiple food bags flat inside the premium box. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the disassembled structure of the pushing mechanism of the present invention; Figure 3 This is a cross-sectional structural diagram of the placement mechanism of the present invention; Figure 4 This is a cross-sectional structural diagram of the lifting assembly of the present invention; Figure 5 This is a schematic diagram of the structure of the base, palletizing mechanism and pressing module of the present invention; Figure 6 This is a cross-sectional structural diagram of the substrate, palletizing mechanism, and pressing module of the present invention; Figure 7 This is a schematic cross-sectional view of the substrate of the present invention; Figure 8 This is a cross-sectional structural diagram of the palletizing mechanism and pressing module of the present invention; Figure 9 This is a schematic diagram of the disassembled structure of the palletizing mechanism of the present invention; Figure 10 This is a partial structural breakdown diagram of the palletizing mechanism of the present invention; Figure 11 This is a schematic diagram of the disassembled structure of the arc block of the present invention; Figure 12 This is a partial structural schematic diagram of the palletizing mechanism of the present invention; Figure 13 This is a schematic diagram of the structure of the hexagonal clamping cavity formed by several clamping plate units according to the present invention; Figure 14 This is a cross-sectional structural diagram of the pressure module of the present invention.

[0018] Explanation of the labels in the diagram: 1. Palletizing robotic arm; 2. Base; 3. Palletizing mechanism; 4. Pressing module; 5. Placement mechanism; 6. Pushing mechanism; 7. Conveyor belt mechanism; 8. Positioning and conveying mechanism; 21. Mounting cavity A; 22. Mounting cavity B; 23. Circular groove; 31. Motor B; 32. Spinner tube; 33. Gear ring; 34. Gear; 35. Fixed plate; 36. Arc block; 37. Clamping plate; 38. Pressure block; 39. Threaded rod; 331. Inclined guide groove; 351. Centripetal slide; 352. Slide rod; 353. Movable column; 354. Lifting slide; 361. Movable groove; 362. Adaptive slide; 363. Arc groove; 364. Rotary rod A; 371. Curved spring; 372. Rotating rod B; 373. Rotating rod C; 381. Grooving; 391. Screw block; 41. Motor A; 42. Threaded slide; 43. Lead screw A; 44. Pressing assembly; 441. Circular block A; 442. Slip ring A; 443. Limiting groove A; 444. Limiting slider A; 51. Base frame A; 52. U-shaped connector; 53. Circular cavity; 54. Lifting assembly; 55. Stop block; 541. Circular block B; 542. Slip ring B; 543. Limiting groove B; 544. Limiting slider B; 545. Threaded sleeve; 546. Lead screw B; 547. Motor C; 61. Frame B; 62. Moving module; 63. Mounting base; 64. Linkage rod; 65. Push block; 71. Vertical panel; 72. Baffle. Detailed Implementation

[0019] like Figures 1 to 14 As shown, the present invention relates to an automatic palletizing equipment for food bags after packaging, including a palletizing robotic arm 1, a base 2, a palletizing mechanism 3, and a conveying system.

[0020] In embodiments of the present invention, such as Figure 6 As shown, the base 2 is fixed to the movable end of the palletizing robot arm 1. The base 2 has an installation cavity A21 and an installation cavity B22. The bottom end of the base 2 has a circular groove 23.

[0021] In embodiments of the present invention, such as Figures 8 to 13 As shown, the palletizing mechanism 3 includes a motor B31, a rotating tube 32, a toothed ring 33, a fixed plate 35, several arc blocks 36, several clamping plate units, a pressure block 38, a threaded rod 39, and a pressing module 4.

[0022] In an embodiment of the present invention, motor B31 is fixedly mounted in mounting cavity B22, rotating tube 32 is rotatably mounted at the top of circular groove 23, and gear ring 33 is fixedly mounted at the bottom of rotating tube 32. The bottom of gear ring 33 has several oblique guide grooves 331 arranged in an annular, equally spaced structure. A gear 34 is meshed with one side of gear ring 33, and gear 34 is rotatably connected to the top of circular groove 23. The top of the shaft of gear 34 passes through mounting cavity B22 and is fixedly connected to the output shaft of motor B31. Through the above arrangement, the present invention enables the rotation of the output shaft of motor B31 to be controlled by an external control mechanism, and gear 34 drives gear ring 33 to rotate.

[0023] In an embodiment of the present invention, a fixed disk 35 is fixed to the bottom end of the base 2. The top of the fixed disk 35 has a plurality of radially spaced grooves 351 arranged in an annular pattern. A sliding rod 352 slides along the radially spaced grooves 351. A movable column 353 is rotatably mounted at the radial end of the sliding rod 352. The tops of the movable columns 353 are respectively movably connected to a plurality of inclined guide grooves 331. A lifting groove 354 is provided at the center of the fixed disk 35. Through the above arrangement, when the toothed ring 33 rotates, the inclined guide grooves 331 rotate, causing the movable columns 353 to drive the sliding rods 352 to slide along the radially spaced grooves 351.

[0024] In an embodiment of the present invention, a plurality of arc blocks 36 are respectively fixed to the eccentric ends of a plurality of sliding rods 352. The bottom end of the arc block 36 is provided with a movable groove 361. The centripetal end of the movable groove 361 has an arc surface structure. The eccentric end of the movable groove 361 is provided with an adaptive sliding groove 362. The top end of the movable groove 361 has two sets of arc grooves 363 with a symmetrical structure. Each set of arc grooves 363 includes a plurality of arc grooves arranged in a linear and equally spaced structure. A rotating rod A364 is rotatably provided at the middle of the top end of the movable groove 361. In an embodiment of the present invention, a plurality of clamping plate units are respectively disposed in a plurality of movable slots 361. Each clamping plate unit includes a plurality of clamping plates 37 positioned relative to a plurality of arc grooves 363. Any two adjacent clamping plates 37 are rotatably connected. A rotating rod A364 is rotatably connected to the corresponding clamping plate 37. The top end of the clamping plate 37 is elastically connected to the corresponding arc groove 363 through an elastic unit. Through the above-mentioned arrangement, the present invention enables the arc block 36 to drive the clamping plate units to move synchronously with the slide rod 352, thereby enabling the plurality of clamping plate units to reciprocate along the centripetal direction to form a clamping structure.

[0025] In an embodiment of the present invention, the elastic unit includes an arc spring 371. One end of the arc spring 371 is rotatably connected to the top of the clamping plate 37 via a rotating rod B372, and the other end of the arc spring 371 is rotatably connected to the end of the arc groove 363 away from the movable column 353 via a rotating rod C373.

[0026] In an embodiment of the present invention, the pressure block 38 is slidably disposed in the adaptive groove 362, and the pressure block 38 has a plurality of pressure grooves 381 opened at the centripetal end relative to a plurality of clamping plates 37, and the pressure grooves 381 are movably engaged with the clamping plates 37. In an embodiment of the present invention, the threaded rod 39 is rotatably disposed at the eccentric end of the arc block 36, and the eccentric end of the threaded rod 39 is fixedly provided with a screw block 391. The centripetal end of the threaded rod 39 passes into the adaptable sliding groove 362 and is threadedly connected to the pressure block 38. The present invention, through the above-described configuration, causes the threaded rod 39 to rotate when the screw block 391 rotates, and the pressure block 38 to slide on the adapting groove 362. When the pressure block 38 is fully inserted into the adapting groove 362 and disengages from the clamping plate 37, under the tension of the arc spring 371, several clamping plates 37 contact the eccentric end of the movable groove 361, causing the clamping plate unit to form a straight plate structure. This allows several clamping plate units to form a hexagonal clamping cavity for stacking food bags in a hexagonal premium box after packaging. When the pressure block 38 slides to contact the clamping plate 37 and pushes the clamping plate 37 to contact the arc surface of the centripetal end of the movable groove 361, the clamping plate unit forms a near-arc plate structure, allowing several clamping plate units to form a circular clamping cavity for stacking food bags in a circular premium box after packaging. This structure allows packaged food bags to be laid layer by layer in a circular or hexagonal premium box, greatly improving the stacking efficiency of packaged food bags.

[0027] In embodiments of the present invention, such as Figure 8 and Figure 14 As shown, the pressing module 4 includes a motor A41, a threaded slide 42, and a pressing assembly 44.

[0028] In an embodiment of the present invention, motor A41 is fixedly mounted in mounting cavity A21, threaded slide column 42 is slidably mounted on lifting slide groove 354, and a lead screw A43 is threadedly connected to the top of threaded slide column 42. The top of lead screw A43 passes through mounting cavity A21 and is fixedly connected to the output shaft of motor A41. Pressing component 44 is located at the bottom of threaded slide column 42. Through the structural design of pressing module 4, the present invention enables the output shaft of motor A41 to rotate and the lead screw A43 to rotate via an external control mechanism, causing threaded slide column 42 to slide and rise relative to lifting slide groove 354, thereby driving pressing component 44 to slide and rise.

[0029] In an embodiment of the present invention, the pressing component 44 includes a circular block A441 and a plurality of slip rings A442 arranged in an inner and outer structure. The circular block A441 is disposed at the bottom end of the threaded sliding column 42. Any two adjacent slip rings A442 are slidably connected. The slip ring A442 located on the inner side is slidably connected to the circular block A441. A plurality of limiting grooves A443 are formed on the inner edge surface of the slip rings A442. Limiting sliders A444 are slidably disposed in the limiting grooves A443. The limiting sliders A444 are fixedly connected to the corresponding slip rings A442 or circular blocks A441. The present invention, through the structural design of the pressing component 44, such as... Figure 14 As shown, in the initial state, under the influence of gravity of several slip rings A442, the pressing component 44 forms a cone-shaped space.

[0030] In embodiments of the present invention, such as Figure 1 As shown, the conveying system includes a placement mechanism 5, a pushing mechanism 6, a conveyor belt mechanism 7, and a positioning conveying mechanism 8.

[0031] In embodiments of the present invention, such as Figure 1 and Figure 3 As shown, the placement mechanism 5 is located below the stacking mechanism 3. The placement mechanism 5 includes a base frame A51, with a U-shaped connecting block 52 fixedly mounted on the top of the base frame A51. A stop block 55 is detachably and fixedly connected to one side of the U-shaped connecting block 52. A circular cavity 53 extending into the base frame A51 is opened at the top of the U-shaped connecting block 52, and a lifting component 54 is provided on the circular cavity 53. Through the structural design of the placement mechanism 5, the stop block 55 and the U-shaped connecting block 52 are fixedly connected by several bolts, such as... Figure 3 The stop block 55 shown is an arc-shaped structure, which is suitable for a circular clamping cavity formed by several clamping plate units. The stop block 55 can be changed by changing the clamping form of the stacking mechanism 3 so that it can be suitable for a hexagonal clamping cavity formed by several clamping plate units.

[0032] In embodiments of the present invention, such as Figure 3As shown, the lifting assembly 54 includes a circular block B541, several slip rings B542 arranged in an inner and outer structure, a threaded sleeve 545, and a motor C547. The circular block B541 is located at the top of the circular cavity 53. Any two adjacent slip rings B542 are slidably connected. The slip ring B542 located on the inner side is slidably connected to the circular block B541, and the slip ring B542 located on the outer side is fixedly connected to the top of the circular cavity 53. Several limiting grooves B543 are opened on the inner edge surface of the slip rings B542. Limiting sliders B544 are slidably arranged in the limiting grooves B543. The limiting sliders B544 are fixedly connected to the corresponding slip rings B542 or circular blocks B541. The threaded sleeve 545 is fixedly installed at the top of the circular block B541. A lead screw B546 is threadedly connected to the bottom end of the threaded sleeve 545. The motor C547 is fixedly installed at the bottom end of the circular cavity 53. The output shaft of the motor C547 is fixedly connected to the bottom end of the lead screw B546. This invention, through the structural design of the lifting assembly 54, allows the output shaft of motor C547 to rotate via an external control mechanism, causing the lead screw B546 to rotate. Since the slip ring B542 is fixedly connected to the top of the circular cavity 53 and cannot rotate, neither the circular block B541 nor the threaded sleeve 545 can rotate. Therefore, the rotation of the lead screw B546 controls the lifting and lowering of the threaded sleeve 545 and the circular block B541. Figure 3 and Figure 4 As shown, in the initial state, the limiting slider B544 is located at the lower end of the limiting groove B543. The circular block B541 and several slip rings B542 form a planar structure for placing several packaged food bags. When several clamping units hold multiple packaged food bags, the external control mechanism controls the output shaft of the motor C547 to rotate, causing the circular block B541 to rise. The circular block B541 and several slip rings B542 rise sequentially from the inside to the outside, lifting the multiple packaged food bags from the inside to the outside and contacting the bottom of the conical space formed by the pressing component 44. At this time, the squeezing force of the outer food bag on the inner food bag is upward, preventing several After the clamping unit holds multiple packages, the disordered squeezing force between the food bags pushes them off, further improving the efficiency of transporting the packaged food bags. When the stacking mechanism 3 puts several food bags into the premium box, the output shaft of the motor A41 is rotated by the external control mechanism. The circular block A441 and several slip rings A442 descend sequentially from the inside to the outside, pushing down the multiple food bags held by the clamping unit until several limit sliders A444 slide to the bottom of several limit grooves A443 respectively. The clamping unit forms a planar structure, flattening the multiple food bags in the premium box. This step can be repeated to stack multiple layers of food bags in the premium box.

[0033] In embodiments of the present invention, such as Figure 1 and Figure 2As shown, the pushing mechanism 6 includes a frame B61, which is located on one side of the base frame A51. A moving module 62 is fixedly mounted on the top of the frame B61, and a mounting base 63 is fixedly mounted on the top of the moving module 62. Several connecting rods 64 are fixedly mounted on the mounting base 63 near the base frame A51 in a linear, equally spaced structure. Push blocks 65 are detachably and fixedly connected to the ends of the connecting rods 64 near the base frame A51. Through the above-described arrangement, the movable end of the moving module 62 can drive the mounting base 63, the connecting rods 64, and the push blocks 65 to move. The push blocks 65 are bolted to the connecting rods 64 for easy disassembly, and the stop blocks 55 can be replaced by the clamping configuration of the stacking mechanism 3.

[0034] In embodiments of the present invention, such as Figure 1 As shown, the conveyor belt mechanism 7 is located in the gap between the frame B61 and the base frame A51. Several vertical plates 71 are evenly fixed on the conveyor belt of the conveyor belt mechanism 7, and a baffle 72 is fixed on the side of the conveyor belt mechanism 7 near the base frame A51.

[0035] like Figure 1 As shown, the positioning conveying mechanism 8 is positioned perpendicularly to the baffle 72 on the side of the conveyor belt mechanism 7 away from the base frame A51. Through this arrangement, the gap between two adjacent upright plates 71 and the conveyor belt of the conveyor belt mechanism 7 forms a pre-storage cavity. The positioning conveying mechanism 8, according to the cavity shape of the palletizing mechanism 3, conveys an appropriate number of food bags into the corresponding pre-storage cavity. Then, through several push blocks 65 of the pushing mechanism 6, the food bags in the adjacent pre-storage cavities are fed onto the U-shaped receiving block 52, awaiting palletizing by the palletizing mechanism 3.

[0036] Working principle: This embodiment provides an automatic palletizing device for packaged food bags. When using it, refer to the following steps: S1. Food bag positioning and pre-storage; Conveying system startup: Positioning conveyor 8, based on the shape of the premium boxes to be stacked, pre-sets the number of food bags required for a single stacking and conveys the food bags one by one to the conveyor belt mechanism 7.

[0037] Food bag pre-storage in separate compartments: Vertical plates 71 are evenly distributed on the conveyor belt of the conveyor belt mechanism 7, and adjacent vertical plates 71 and the conveyor belt form independent pre-storage compartments. The positioning conveyor mechanism 8 conveys an appropriate number of food bags into the corresponding pre-storage compartments, and the baffle 72 restricts the deviation of the food bags to ensure that the food bags in each pre-storage compartment are neat and orderly.

[0038] Pushing to the picking area: The moving module 62 drives the mounting base 63 and connecting rod 64 to move, and pushes multiple food bags in the pre-stored cavities to the U-shaped receiving block 52 of the placement mechanism 5 simultaneously through the push block 65. At this time, the lifting assembly 54 is in the initial state: the round block B541 and several slip rings B542 form a planar structure, and the stop block 55 adapts and changes according to the shape of the clamping cavity to restrict the edge of the food bag, forming a regular group of food bags to be picked up.

[0039] S2, Clamping cavity adaptation and food bag clamping; Clamping cavity shape switching: Adjust the clamping plate unit structure according to the shape of the target boutique box: For a hexagonal premium box: the rotating screw block 391 drives the threaded rod 39 to rotate, causing the pressure block 38 to fully retract into the sliding groove 362 and disengage from the clamping plate 37. Under the tension of the arc spring 371, several clamping plates 37 contact the eccentric end of the movable groove 361 to form a straight plate structure, and multiple clamping plate units together form a hexagonal clamping cavity.

[0040] If it is a round boutique box: rotate the screw block 391 in the opposite direction to push the pressure block 38 to slide inward along the adaptive groove 362. The pressure groove 381 fits with the clamping plate 37, pushing the clamping plate 37 to contact the arc surface of the inward end of the movable groove 361 to form an arc-like plate structure. Multiple clamping plate units surround to form a circular clamping cavity.

[0041] Clamping position alignment: The palletizing robot arm 1 moves the base 2 and the palletizing mechanism 3 to align the clamping cavity with the food bag group on the U-shaped connecting block 52.

[0042] Clamping the food bag: Start motor B31, gear 34 drives gear ring 33 to rotate, inclined guide groove 331 pushes slide rod 352 to slide inward along radial slide groove 351 through movable column 353, arc block 36 drives clamping plate unit to retract synchronously until the food bag group is clamped.

[0043] Food bag lifting and fitting: Start motor C547, lead screw B546 rotates to drive threaded sleeve 545 to rise, driving round block B541 and several slip rings B542 to rise from the inside to the outside in sequence, lifting the food bag group from the inside to the outside and fitting it to the bottom of the cone-shaped space of the pressing component 44 in the initial state, so as to avoid disorderly squeezing between food bags and causing them to fall.

[0044] S3. Stable delivery of food bags; The palletizing robotic arm 1 drives the palletizing mechanism 3, which has already clamped the food bags, to move and transfer them to the workstation where the target premium boxes are placed.

[0045] S4. Layered and orderly stacking; Clamping cavity aligned with box opening: The robotic arm adjusts its position so that the clamping cavity is aligned with the opening of the premium box, and the food bag is fed into the premium box.

[0046] Food bag pressing and flattening: Start motor A41, the lead screw A43 rotates to drive the threaded slide column 42 to descend, the round block A441 and several slip rings A442 press down from the inside to the outside in sequence, pushing the food bag group out of the clamping cavity until the limiting slider A444 slides to the bottom of the limiting slide groove A443. The pressing component 44 forms a planar structure, pressing the food bag group flat in the box to ensure neat stacking.

[0047] The embodiments disclosed in this invention are preferred embodiments, but are not limited thereto. Those skilled in the art can easily understand the spirit of this invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of this invention, they are all within the protection scope of this invention.

Claims

1. An automatic palletizing device for food bags, characterized in that, The system includes a palletizing robot arm (1), with a base (2) fixed to the movable end of the palletizing robot arm (1), a palletizing mechanism (3) on the base (2), and a conveying system below the palletizing mechanism (3). The palletizing mechanism (3) includes a fixed disk (35), which is fixed to the bottom of the base (2). The top of the fixed disk (35) has a plurality of radial grooves (351) with an annular equidistant structure. A sliding rod (352) is slidably provided on the radial groove (351). An arc block (36) is fixed to the eccentric end of the sliding rod (352). A movable groove (361) is provided at the bottom of the arc block (36). The radial end of the movable groove (361) has an arc surface structure. An adaptive groove (362) is provided at the eccentric end of the movable groove (361). Two sets of arc grooves (363) are provided at the top of the movable groove (361) with a symmetrical structure. Each set of arc grooves (363) includes a plurality of arc grooves arranged in a linear equidistant structure. A rotating rod A (364) is rotatably provided at the middle of the top of the movable groove (361). The movable groove (361) is provided with a clamping plate unit. The clamping plate unit includes a plurality of clamping plates (37) arranged relative to the positions of the plurality of arc grooves (363). Any two adjacent clamping plates (37) are rotatably connected. The rotating rod A (364) is rotatably connected to the corresponding clamping plate (37). The top end of the clamping plate (37) is elastically connected to the corresponding arc groove (363) through an elastic unit. The adaptive groove (362) is provided with a pressure block (38), and several clamping plates (37) are in movable cooperation with the pressure block (38).

2. The automatic palletizing equipment for food bag packaging according to claim 1, characterized in that, The base (2) has an installation cavity A (21) and an installation cavity B (22) inside, and a circular groove (23) is provided at the bottom end of the base (2).

3. The automatic palletizing equipment for food bag packaging according to claim 1, characterized in that, The elastic unit includes an arc spring (371), one end of which is rotatably connected to the top of the clamping plate (37) via a rotating rod B (372), and the other end of which is rotatably connected to the arc groove (363) via a rotating rod C (373).

4. The automatic palletizing equipment for food bag packaging according to claim 2, characterized in that, The palletizing mechanism (3) further includes a motor B (31), a rotating tube (32), a toothed ring (33), and a threaded rod (39). The motor B (31) is fixed in the mounting cavity B (22). The rotating tube (32) is rotatably mounted on the top of the circular groove (23). The toothed ring (33) is fixed on the bottom of the rotating tube (32). The bottom of the toothed ring (33) has several oblique guide grooves (331) with an annular, equally spaced structure. The sliding rod (352) has a movable column (353) rotatably mounted at its centripetal end. The tops of several movable columns (353) are movably connected to several oblique guide grooves (331). A lifting slide groove (354) is provided at the center of the fixed plate (35). A gear (34) is meshed with one side of the gear ring (33). The gear (34) is rotatably connected to the top of the circular groove (23). The top of the shaft of the gear (34) passes into the mounting cavity B (22) and is fixedly connected to the output shaft of the motor B (31). The threaded rod (39) is rotatably located at the eccentric end of the arc block (36). A screw block (391) is fixed at the eccentric end of the threaded rod (39). The centripetal end of the threaded rod (39) passes into the adaptive slide groove (362) and is threadedly connected to the pressure block (38).

5. The automatic palletizing equipment for food bag packaging according to claim 1, characterized in that, The pressure block (38) has several pressure grooves (381) at its centripetal end relative to several clamping plates (37), and the pressure grooves (381) are movably engaged with the clamping plates (37).

6. The automatic palletizing equipment for food bag packaging according to claim 4, characterized in that, The palletizing mechanism (3) further includes a pressing module (4), which includes a motor A (41), a threaded slide column (42), and a pressing assembly (44). The motor A (41) is fixed in the mounting cavity A (21), the threaded slide column (42) is slidably mounted on the lifting slide groove (354), and a lead screw A (43) is threadedly connected to the top of the threaded slide column (42). The top of the lead screw A (43) passes through the mounting cavity A (21) and is fixedly connected to the output shaft of the motor A (41). The pressing assembly (44) is located at the bottom of the threaded slide column (42).

7. The automatic palletizing equipment for food bag packaging according to claim 6, characterized in that, The pressing assembly (44) includes a circular block A (441) and a plurality of slip rings A (442) arranged in an inner and outer structure. The circular block A (441) is located at the bottom end of the threaded slide column (42). Any two adjacent slip rings A (442) are slidably connected. The slip ring A (442) located on the inner side is slidably connected to the circular block A (441). A plurality of limiting grooves A (443) are provided on the inner edge surface of the slip ring A (442). A limiting slider A (444) is slidably provided in the limiting groove A (443). The limiting slider A (444) is fixedly connected to the corresponding slip ring A (442) or circular block A (441).

8. The automatic palletizing equipment for food bag packaging according to claim 1, characterized in that, The conveying system includes a placement mechanism (5), a pushing mechanism (6), a conveyor belt mechanism (7), and a positioning conveying mechanism (8). The placement mechanism (5) includes a base frame A (51), a U-shaped connector (52) is fixedly provided at the top of the base frame A (51), a stop block (55) is detachably fixedly connected to one side of the U-shaped connector (52), a circular cavity (53) extending into the base frame A (51) is opened at the top of the U-shaped connector (52), and a lifting component (54) is provided on the circular cavity (53). The pushing mechanism (6) includes a frame B (61), which is located on one side of the base frame A (51); The conveyor belt mechanism (7) is located in the gap between the frame B (61) and the base frame A (51). Several vertical plates (71) are uniformly fixed on the conveyor belt of the conveyor belt mechanism (7). A baffle (72) is fixed on the side of the conveyor belt mechanism (7) near the base frame A (51). The positioning and conveying mechanism (8) is positioned perpendicularly to the baffle (72) on the side of the conveyor belt mechanism (7) away from the base frame A (51).

9. The automatic palletizing equipment for food bag packaging according to claim 8, characterized in that, The lifting assembly (54) includes a circular block B (541), several slip rings B (542) arranged in an inner and outer structure, a threaded sleeve (545), and a motor C (547). The circular block B (541) is located at the top of the circular cavity (53). Any two adjacent slip rings B (542) are slidably connected. The slip ring B (542) located on the inner side is slidably connected to the circular block B (541), and the slip ring B (542) located on the outer side is fixedly connected to the top of the circular cavity (53). Several limiting positions are provided on the inner edge surface of the slip ring B (542). The sliding groove B (543) is provided with a limiting slider B (544), which is fixedly connected to the corresponding sliding ring B (542) or round block B (541). The threaded sleeve (545) is fixedly mounted on the top of the round block B (541), and the bottom end of the threaded sleeve (545) is threadedly connected to the lead screw B (546). The motor C (547) is fixedly mounted on the bottom end of the round cavity (53), and the output shaft of the motor C (547) is fixedly connected to the bottom end of the lead screw B (546).

10. The automatic palletizing equipment for food bags according to claim 8, characterized in that, The top of the frame B (61) is fixed with a moving module (62), and the top of the moving module (62) is fixed with a mounting base (63). The mounting base (63) has a number of connecting rods (64) fixed in a linear and equally spaced structure near the base frame A (51). The connecting rods (64) are detachably and fixedly connected with a push block (65) near the base frame A (51).

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