An automatic casing boxing and stacking device

Abstract

The application discloses an automatic casing boxing and stacking device and relates to the technical field of casing boxing. The automatic casing boxing and stacking device comprises a first roller conveyor for casing box conveying and a second roller conveyor for bagged casing conveying, and further comprises an insertion slot arranged at the middle part of the tail end of the second roller conveyor, wherein a swing plate is rotatably arranged at one end of the upstream of the second roller conveyor. The swing plate reciprocating swing makes the bagged casings on the second roller conveyor distributed on both sides of the insertion slot. The bagged casings are lifted and clamped from the roller gap of the second roller conveyor through the lower clamping plate, so that the defects of unstable adsorption of the traditional suction cup type manipulator due to the uneven surface of the bag body are effectively avoided, and the problem that the clamping jaw type manipulator needs to increase the size of the packaging box due to the excessively large clamping width is solved. While the stable grabbing is ensured, the efficient utilization of the standard box is realized, and the packaging materials and the storage space are saved.

Description

Technical Field

[0001] This invention relates to the field of sausage casing packaging technology, specifically to an automatic sausage casing packaging and palletizing device. Background Technology

[0002] After the sausage casings are produced and processed, the packaging and palletizing processes still mainly rely on manual labor. This model has obvious limitations: First, manual packaging is slow and inefficient, making it difficult to meet the needs of continuous and large-scale production. Second, it is difficult to standardize manual operations, which can easily lead to quality problems such as uneven placement of products in boxes, insecure packaging, and even mixing of products of different specifications. Third, this process is labor-intensive, resulting in high labor costs and high labor intensity for employees, which can easily lead to fatigue and increase the risk of operational errors. Finally, relying on manual stacking often results in unstable stacking patterns, low utilization of storage space, and difficulty in accurately recording and tracking data in the production process, which is not conducive to achieving refined management and quality traceability.

[0003] To improve the efficiency of sausage casing packing, the industry currently widely uses suction cup or gripper-type robotic arms for automated picking and packing operations. However, both methods have significant limitations: when using suction cups, the sausage casings are rod-shaped after being rolled up, and the surface of the bag is often wavy after vacuum packaging, which can easily cause the suction cup to not adhere tightly to the surface of the sausage casing, resulting in gaps and problems such as unstable adsorption and picking failure; gripper-type picking requires insertion from both sides of the packaging bag, and the required clamping width is greater than the effective width of the packaging box, which can only use larger packaging boxes, thus causing unnecessary waste of materials and resources. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an automatic casing packing and palletizing device, which solves the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic casing packing and palletizing device, comprising a first roller conveyor for conveying casings and a second roller conveyor for conveying bagged casings, and further comprising:

[0006] An insertion slot is located at the middle of the end of the second roller conveyor. A swing plate is rotatably installed at the upstream end of the second roller conveyor. The swing plate swings back and forth so that the bagged sausage casings on the second roller conveyor are distributed on both sides of the insertion slot.

[0007] A gripping assembly is located between the first roller conveyor and the second roller conveyor and can move along the xz axis. The gripping assembly includes a connecting frame, on which an upper rotating shaft is symmetrically rotatably connected. Upper clamping plates are installed at equal intervals on the upper rotating shaft. A lower rotating shaft is also symmetrically rotatably connected to the connecting frame, on which lower clamping plates are installed at equal intervals.

[0008] The gripping assembly is equipped with a drive unit for rotating the upper and lower rotating shafts, which brings the opposing lower clamping plates closer to each other and then moves them apart after they are inserted into the insertion slot. This allows the lower clamping plates to cooperate with the upper clamping plate through the gap between the first rollers on the second roller conveyor to grip the bagged casings. The furthest distance between the two opposing bagged casings is less than the width of the box, so that the bagged casings can be transferred into the box.

[0009] Furthermore, a spring is installed inside the lower clamping plate, and a connecting rod is slidably connected inside the lower clamping plate, with a roller rotatably installed at the lower end of the connecting rod;

[0010] When the lower clamping plates approach each other inside the box, the spring relaxes, causing the roller to move away from the lower clamping plate and the lower end of the roller to abut against the bottom of the box or the upper surface of the already laid bagged casings, in order to compact the laid bagged casings.

[0011] Furthermore, first limiting plates are installed on both sides of the first roller conveyor at both ends of the gripping assembly, and the two sets of first limiting plates form a trumpet-shaped structure for limiting the movement of the box during transport.

[0012] Furthermore, the minimum distance between the two first limiting plates is adjusted by bolts.

[0013] Furthermore, a first electric telescopic cylinder is installed at the bottom of the first roller conveyor, and a second limiting plate is installed at the lifting end of the first electric telescopic cylinder. The upper end of the second limiting plate passes through the gap between the second rollers on the first roller conveyor and abuts against the box body.

[0014] Furthermore, the swing plate is located in the middle of the second roller conveyor, and a servo motor for driving the swing plate to swing is installed at the bottom of the second roller conveyor. When the swing plate swings to one side, the bagged sausage casing moves along the swing plate to the opposite side.

[0015] Furthermore, a limit frame is installed at the end of the second roller conveyor at the insertion slot. The limit frame has a "U" shaped structure and is used to limit the movement when gripping bagged sausage casings.

[0016] Furthermore, the driving component includes a second electric telescopic cylinder fixed inside the connecting frame. There are two second electric telescopic cylinders in total. The telescopic ends of the two second electric telescopic cylinders are equipped with racks that are vertically slidably connected to the connecting frame. One end of the upper rotating shaft and the lower rotating shaft are each equipped with gears that mesh with the racks respectively.

[0017] Furthermore, it also includes:

[0018] A gantry frame is located between the first roller conveyor and the second roller conveyor. A dual-axis actuator is fixed at its upper end. The output end of the dual-axis actuator is fixedly connected to the connecting frame and is used to adjust the position of the gripping component on the xz axis.

[0019] Furthermore, the first roller conveyor is also equipped with a carton sealing machine, which is located downstream of the dual-shaft actuator;

[0020] Downstream of the first roller conveyor, there is a palletizing area, which is equipped with storage racks and a palletizing robot for transferring boxes from the first roller conveyor to the storage racks.

[0021] The present invention has the following beneficial effects:

[0022] (1) The automatic casing packing and palletizing device effectively avoids the defects of traditional suction cup robotic arms that are unstable due to uneven bag surfaces by using a lower clamping plate to lift and hold the casing from the gap between the rollers of the second roller conveyor. At the same time, it solves the problem that the size of the packaging box needs to be increased due to the excessive gripping width of the gripper robotic arm. While ensuring stable gripping, it realizes the efficient use of standard boxes and saves packaging materials and storage space.

[0023] (2) The automatic casing packing and palletizing device controls the opening and closing of the upper and lower clamping plates through the drive component, so that the lower clamping plate can first close together and pass through the insertion slot, and then open up and pass through the gap of the roller to cooperate with the upper clamping plate, thus completing the lifting and clamping from the bottom of the casing packaging bag. This overcomes the adverse effects of its rod-shaped shape and wavy surface on the traditional adsorption gripping. At the same time, by controlling the angle between the two bags of casings after clamping, the overall width of the casing is strictly smaller than the width of the box, thereby realizing the synchronous and stable transfer and packing of two products without replacing the larger packaging box, thus optimizing the operation cycle and space utilization.

[0024] (3) The automatic casing packing and palletizing device significantly improves the accuracy and stability of bagged casing packing by cooperating with the swing plate, the limiting frame, the first limiting plate and the second limiting plate. The reciprocating swing of the swing plate realizes the automatic and uniform distribution of bagged casings on both sides of the gripping station, providing material guarantee for continuous gripping. The regular positioning of the bagged casings by the limiting frame ensures the accuracy and consistency of the gripping action. The trumpet-shaped structure formed by the first limiting plate realizes the automatic centering and correction of the box during the box conveying process. The second limiting plate locks the position of the box, thereby ensuring the accuracy and reliability of the gripping and delivery process, and effectively solving the quality problems of inaccurate product positioning and uneven placement in manual operation and traditional automation solutions.

[0025] (4) In the automatic casing packing and stacking device, after the bagged casings are placed into the box, the lower clamping plate continues to close, and the spring pushes the roller to extend and apply a flexible rolling pressure to the surface of the casings. This action automatically completes the sorting and compaction of the products in the box, eliminates the gaps between the products, makes the packing more compact and neat, improves the stability and appearance standardization of single box loading, simulates the sorting steps after manual packing, further ensures the final packaging quality, and lays a good foundation for the subsequent sealing, stacking and transportation links.

[0026] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention;

[0028] Figure 2 This is a diagram showing the installation position of the dual-axis actuator in this invention;

[0029] Figure 3 In this invention Figure 2 Another perspective view;

[0030] Figure 4 This is a schematic diagram of the bottom structure of the first roller conveyor and the second roller conveyor in this invention;

[0031] Figure 5 This is a schematic diagram of the gripping component in this invention;

[0032] Figure 6 This is a schematic diagram of the gripping component inside the housing in this invention;

[0033] Figure 7 This is a dynamic change diagram of the gripping component when the bagged sausage casing is transferred into the box in this invention;

[0034] Figure 8 This is a schematic diagram of the gripping component in this invention when gripping bagged sausage casings;

[0035] Figure 9 In this invention Figure 8 Another perspective view;

[0036] Figure 10 This is a schematic diagram of the installation structure of the connecting rod in this invention.

[0037] In the diagram, 1. First roller conveyor; 2. Second roller conveyor; 3. Carton sealing machine; 4. Palletizing area; 5. Palletizing robot; 6. Storage rack; 7. Carton body; 8. Bagged sausage casing; 9. Gantry frame; 10. Dual-axis actuator; 11. Gripping assembly; 1101. Connecting frame; 1102. Upper rotating shaft; 1103. Lower rotating shaft; 1104. Upper clamping plate; 1105. Lower clamping plate; 1106. Connecting rod; 1107. Roller; 1108. Gear; 1109. Rack; 1110. Second electric telescopic cylinder; 12. First limiting plate; 13. Second limiting plate; 14. First electric telescopic cylinder; 15. Swing plate; 16. Insertion slot; 17. First roller gap; 18. Limiting frame; 19. Servo motor. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0040] The following is based on Figures 1-10 This invention describes an automatic casing packing and palletizing device provided in an embodiment of the present invention.

[0041] Please refer to Figures 1-10This invention provides a technical solution: an automatic casing packing and palletizing device, including a first roller conveyor 1 for conveying a box 7 and a second roller conveyor 2 for conveying bagged casings 8. The first roller conveyor 1 and the second roller conveyor 2 converge downstream of the second roller conveyor 2 to transfer the bagged casings 8 into the box 7. To facilitate the transfer of the bagged casings 8, the automatic casing packing and palletizing device provided in this embodiment also includes an insertion slot 16 and a gripping assembly 11. The insertion slot 16 is located at the middle of the end of the second roller conveyor 2, causing the transmission roller on the second roller conveyor 2 to break off from the middle. To prevent the bagged casings 8 from falling out of the insertion slot 16, a limiting plate can be installed at the end of the transmission roller at this location. The outer diameter of the limiting plate is slightly larger than the outer diameter of the transmission roller, thereby preventing the bagged casings 8 from falling out. In addition, to facilitate the even distribution of the bagged casings 8 in the insertion slot 16, the device further includes an insertion slot 16. On both sides of the slot 16, to facilitate the subsequent gripping of bagged sausage casings 8, the automatic casing packing and palletizing device provided in this embodiment has a swing plate 15 rotatably installed at the end of the insertion slot 16 facing upstream of the second roller conveyor 2. The swing plate 15 swings back and forth, so that the bagged sausage casings 8 on the second roller conveyor 2 are distributed on both sides of the insertion slot 16. Specifically, the swing plate 15 is located in the middle of the second roller conveyor 2. A servo motor 19 for driving the swing plate 15 to swing back and forth is installed at the bottom of the second roller conveyor 2. When the swing plate 15 swings to one side, one side of the second roller conveyor 2 is in a relatively closed state and the other side is in a relatively open state. At this time, the bagged sausage casings 8 conveyed by the second roller conveyor 2 can be moved along the swing plate 15 to the relatively open area on the opposite side by the action of the swing plate 15. By repeating this process, the bagged sausage casings 8 can be evenly arranged on both sides of the insertion slot 16.

[0042] In addition, the gripping component 11 provided in this embodiment is located between the first roller conveyor 1 and the second roller conveyor 2, and can move along the xz axis to transfer the bagged sausage casing 8 from the second roller conveyor 2 to the housing 7 of the first roller conveyor 1.

[0043] The gripping assembly 11 includes a connecting frame 1101, on which an upper rotating shaft 1102 is symmetrically rotatably connected. Upper clamping plates 1104 are evenly spaced on the upper rotating shaft 1102. A lower rotating shaft 1103 is also symmetrically rotatably connected to the connecting frame 1101, on which lower clamping plates 1105 are evenly spaced. The gripping assembly 11 also includes a driving component for rotating the upper rotating shaft 1102 and the lower rotating shaft 1103. The driving component causes the opposing lower clamping plates 1105 to move closer together, with their maximum distance less than the minimum inner diameter of the insertion slot 16. After insertion into the insertion slot 16, they move further apart. This further allows the lower clamping plates 1105 to pass through the first roller gap 17 on the second roller conveyor 2 and cooperate with the upper clamping plates 1104 to grip the bagged sausage casings 8, ensuring that the furthest distance between two opposing bagged sausage casings 8 is less than the width of the box 7. To achieve this effect, the angle between the two opposing bagged casings 8 needs to be less than 180°. At this point, the width of the box 7 is sufficient to accommodate the two bagged casings 8, allowing them to be transferred into the box 7. Before operation, the lower clamping plate 1105 is closed and narrowed to pass smoothly through the insertion slot 16. After entering the working position, the lower clamping plate 1105 unfolds and moves upward, forming a clamping force with the upper clamping plate 1104. It lifts and clamps the bagged casing 8 from the bottom, completely avoiding the suction failure problem caused by the wavy surface of the bag during traditional mechanical picking. It also overcomes the drawback of traditional grippers needing to clamp horizontally from both sides, which occupies too much width. By controlling the angle between the two bagged casings 8 after clamping, it is ensured that the overall envelope width is always less than the inner width of the box 7. This achieves stable simultaneous gripping and transfer of two bagged casings 8 without increasing the size of the packaging box, thus optimizing space utilization.

[0044] It should be noted that when the gripping component 11 releases the bagged sausage casing 8 inside the box 7, the lower clamping plates 1105 move closer together, causing one end of the bagged sausage casing 8 to slide down along the lower clamping plates 1105 until the other end of the bagged sausage casing 8 abuts against the inner wall of the box 7. At this point, the lower clamping plates 1105 continue to move closer together until they abut against each other. Then, the gripping component 11 is removed from the box 7, and the higher end of the bagged sausage casing 8 swings downward under its own weight, thereby achieving the laying of the bagged sausage casing 8 inside the box 7. The movement of the lower clamping plates 1105 moving closer together first leads to... One end of the bagged sausage casing 8 slides along its inclined surface toward the bottom of the box 7, while the other end of the bagged sausage casing 8 is forced to abut against the inner wall of the box 7, thus achieving initial positioning and posture adjustment of the bagged sausage casing 8 during packing. When the gripping component 11 is completely withdrawn, the bagged sausage casing 8, which has one end touching the bottom and the other end suspended in the air, will naturally move downward under the action of gravity and eventually lay flat on the bottom of the box 7 or on the already packed product layer. This process achieves neat placement of the bagged sausage casing 8 in the box 7, solving the problems of uneven placement, inconsistent posture, and low efficiency caused by manual placement.

[0045] like Figure 5 , Figure 7and Figure 10 As shown, to improve the packing effect of bagged sausage casings 8, the lower clamping plate 1105 provided in this embodiment has a cavity inside, and a spring is installed inside the cavity. A connecting rod 1106 is slidably connected inside the cavity of the lower clamping plate 1105. A roller 1107 is rotatably installed at the lower end of the connecting rod 1106. When the lower clamping plates 1105 approach each other inside the box 7, the spring relaxes, causing the roller 1107 to move away from the lower clamping plate 1105 until the lower end of the roller 1107 abuts against the bottom of the box 7 or the upper surface of the bagged sausage casings 8 that have been laid, thereby compacting the bagged sausage casings 8 and improving the packing effect. The packaging effect of casing 8 is as follows: after the bagged casing 8 is released and initially placed, as the lower clamping plate 1105 continues to move closer, the internal rollers 1107 extend under the action of springs and apply a soft rolling action to the bagged casing 8 that has been laid below. This simulates the steps of smoothing or compacting the product by hand after manual packaging, effectively eliminating the gaps between the bagged casings 8, making the product layer inside the box more compact and flat. This not only increases the loading capacity of a single box, but also enhances the stability of product stacking inside the box 7, providing a foundation for subsequent sealing and stacking, and further ensuring the packaging quality.

[0046] like Figure 2 and Figure 3 As shown, to improve the accuracy of packing bagged sausage casings 8, the first roller conveyor 1 provided in this embodiment is equipped with first limiting plates 12 on both sides of the gripping component 11. The two sets of first limiting plates 12 form a trumpet-shaped structure for limiting the box 7 during conveying, so that the box 7 gradually moves between the two sets of first limiting plates 12, avoiding the box 7 from shifting vertically to the first roller conveyor 1 in the horizontal plane. The trumpet-shaped guiding structure formed by the first limiting plates 12 can automatically center and correct the box 7 during the conveying process. When the box 7 enters this area, even if the initial position is slightly deviated, it will be gradually corrected under the action of the gradually narrowing guide surface, ensuring that it finally stops at the predetermined gripping and placement position below the gripping component 11, thereby ensuring that the bagged sausage casings 8 can be accurately put into the box 7, avoiding the problem of inaccurate placement or product hitting the box wall due to the positional deviation of the box 7.

[0047] like Figure 2 and Figure 3 As shown, the minimum distance between the two first limit plates 12 is adjusted by bolts, which can quickly adapt to the replacement of packaging boxes of different sizes. This allows the device to meet the production needs of products with multiple specifications, reduces the equipment adjustment time and cost due to product specification changes, and is beneficial to the layout of the production line.

[0048] like Figure 3 and Figure 4As shown, to prevent the box body 7 from continuing to move when the bagged sausage casings 8 are packed, the first roller conveyor 1 provided in this embodiment is equipped with a first electric telescopic cylinder 14 at the bottom. The lifting end of the first electric telescopic cylinder 14 is equipped with a second limiting plate 13. The upper end of the second limiting plate 13 passes through the gap between the second rollers on the first roller conveyor 1 and abuts against the outside of the box body 7, thereby preventing the box body 7 from continuing to move due to the action of the first roller conveyor 1 when the sausage casings 8 are packed, and improving the positioning accuracy of the box body 7.

[0049] After the box 7 is transported to the packing station and aligned, the first electric telescopic cylinder 14 drives the second limit plate 13 to rise, thereby offsetting the slight lateral force that may be generated by the rotation of the conveyor rollers. This ensures the accuracy of the position of the box 7 throughout the entire process of grabbing, transferring and dispensing the bagged sausage casings 8, and greatly improves the repeatability of the dispensing action.

[0050] like Figure 8 As shown, in order to improve the gripping efficiency of bagged sausage casings 8, the automatic casing packing and palletizing device provided in this embodiment is equipped with a limit frame 18 at the end of the second roller conveyor 2 at the insertion slot 16. The limit frame 18 has a "U" shaped structure and is used to limit the gripping of bagged sausage casings 8.

[0051] In practical use, the limiting frame 18 has a dual function. First, as a physical barrier, it prevents the bagged sausage casing 8 from crossing the gripping station under inertia or driven by the second roller conveyor 2, ensuring that the bagged sausage casing 8 always stops within the picking range of the gripping component 11. Second, the "U"-shaped structure of the limiting frame 18 constrains the bagged sausage casing 8 from both sides and the rear, so that the relative position of the bagged sausage casing remains consistent each time it is gripped. Most importantly, it keeps the maximum distance of the bagged sausage casing 8 less than the width of the box 7. This provides the conditions for the precise alignment of the gripping point of the gripping component 11, reduces gripping failures caused by the randomness of the product position, and thus improves the success rate and cycle time of the gripping action.

[0052] like Figure 5 As shown, in order to drive the upper rotating shaft 1102 and the lower rotating shaft 1103, the driving component provided in this embodiment includes a second electric telescopic cylinder 1110 fixed inside the connecting frame 1101. There are two second electric telescopic cylinders 1110. The telescopic ends of the two second electric telescopic cylinders 1110 are each equipped with a rack 1109 that is vertically slidably connected to the connecting frame 1101. One end of the upper rotating shaft 1102 and the lower rotating shaft 1103 are each equipped with a gear 1108 that meshes with the rack 1109 respectively.

[0053] The second electric telescopic cylinder 1110 extends and retracts, causing the rack 1109 to move accordingly. Through the meshing of the rack 1109 and the gear 1108, the upper rotating shaft 1102 and the lower rotating shaft 1103 rotate in opposite directions, thereby realizing the gripping or release of the bagged sausage casing 8.

[0054] like Figure 1 As shown, in order to adjust the position of the gripping component 11 on the xz axis so as to transfer the bagged sausage casing 8 from the second roller conveyor 2 to the box 7 on the first roller conveyor 1, the automatic casing packing and palletizing device provided in this embodiment also includes a gantry frame 9. The gantry frame 9 is located between the first roller conveyor 1 and the second roller conveyor 2, and a dual-axis actuator 10 is fixed at the upper end of the gantry frame 9. The output end of the dual-axis actuator 10 is fixedly connected to the connecting frame 1101 and is used to adjust the position of the gripping component 11 on the xz axis.

[0055] like Figure 1 As shown, in order to achieve palletizing of bagged sausage casings 8 after packaging, the first roller conveyor 1 provided in this embodiment is also equipped with a box sealing machine 3. The box sealing machine 3 is located downstream of the dual-axis actuator 10 and is used to seal the box 7 after the bagged sausage casings 8 are packaged. Downstream of the first roller conveyor 1, there is also a palletizing area 4. The palletizing area 4 is equipped with a storage rack 6, and a palletizing robot 5 is installed in the palletizing area 4 to transfer the box 7 from the first roller conveyor 1 to the storage rack 6. The full box 7 is sent to the box sealing machine 3 via the first roller conveyor 1, and the tape sealing is automatically completed. Then it continues to be conveyed to the palletizing area 4, where the palletizing robot 5 grabs and stacks it onto the storage rack 6 according to the preset stacking pattern. This avoids manual sealing and heavy manual handling and stacking operations, greatly reducing labor intensity and cost.

[0056] In use (operation), the box 7 is placed on the first roller conveyor 1, and the bagged casings 8 are placed on the second roller conveyor 2. The servo motor 19 drives the swing plate 15 to swing back and forth. The bagged casings 8 conveyed by the second roller conveyor 2 are moved along the swing plate 15 to the opposite open area. This process is repeated to evenly distribute the bagged casings 8 on both sides of the insertion slot 16. The box 7 is gradually moved to the designated area by the first limiting plate 12. The first electric telescopic cylinder 14 raises the second limiting plate 13, further limiting the box 7 and ensuring the precise position of the box 7. The bagged casings 8 and the box 7 are supplied along independent conveyor lines. The swing plate 15, the first limiting plate 12, and the second limiting plate 13 automatically complete the queue arrangement and precise positioning, which fully prepares for subsequent automated operation. The whole process is continuous and smooth, without the need for manual intervention, laying the foundation for efficient operation.

[0057] The gripping assembly 11 is moved above the insertion slot 16 using the dual-axis actuator 10. At this time, the two lower clamping plates 1105 on the gripping assembly 11 approach each other and are inserted into the insertion slot 16 by the action of the dual-axis actuator 10. The drive unit is activated to move the two lower clamping plates 1105 away from each other. The lower clamping plates 1105 then pass through the first roller gap 17 on the second roller conveyor 2 and cooperate with the upper clamping plate 1104 to grip the bagged casing 8. The furthest distance between the two opposing bagged casings 8 is less than the width of the box 7. The width of the box 7 is sufficient to accommodate the two bagged casings 8 so that the bagged casings 8 are transferred into the box 7.

[0058] The dual-axis actuator 10 moves the gripping assembly 11, which picks up the bagged sausage casing 8, into the housing 7. The drive mechanism rotates the lower clamping plate 1105 and the upper clamping plate 1104 to release the bagged sausage casing 8 inside the housing 7. At this point, the lower clamping plates 1105 move closer together, causing one end of the bagged sausage casing 8 to slide down along the lower clamping plates 1105 until the other end of the bagged sausage casing 8 abuts against the inner wall of the housing 7. As the lower clamping plates 1105 continue to move closer together, the spring relaxes, causing the roller 1107 to move away from the lower clamping plates 1105 until the lower end of the roller 1107 touches the bottom of the housing 7 or the already laid-out bagged sausage casing. The upper surfaces of the casings 8 are pressed together to compact the already laid bagged casings 8, improving the packing effect of the bagged casings 8. The lower clamps 1105 are brought closer together until they touch. Then the gripping component 11 is removed from the box 7. The high end of the bagged casings 8 swings downward under its own gravity, thus realizing the laying of the bagged casings 8 inside the box 7. The filled box 7 is sent to the sealing machine 3 by the first roller conveyor 1, which automatically completes the tape sealing. Then it is continued to be transported to the palletizing area 4, where the palletizing robot 5 grabs and stacks them onto the storage rack 6 according to the preset pallet pattern.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0060] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic casing packing and palletizing device, comprising a first roller conveyor (1) for conveying boxes (7) and a second roller conveyor (2) for conveying bagged casings (8), characterized in that, Also includes: Insertion slot (16) is located at the middle of the end of the second roller conveyor (2). A swing plate (15) is rotatably installed on the upstream end of the second roller conveyor (2). The swing plate (15) swings back and forth so that the bagged sausage casings (8) on the second roller conveyor (2) are distributed on both sides of the insertion slot (16). The gripping assembly (11) is located between the first roller conveyor (1) and the second roller conveyor (2) and can move along the xz axis. The gripping assembly (11) includes a connecting frame (1101), on which an upper rotating shaft (1102) is symmetrically rotatably connected. Upper clamping plates (1104) are installed at equal intervals on the upper rotating shaft (1102). A lower rotating shaft (1103) is also symmetrically rotatably connected to the connecting frame (1101), on which lower clamping plates (1105) are installed at equal intervals. The gripping component (11) is also equipped with a drive unit for driving the upper rotating shaft (1102) and the lower rotating shaft (1103) to rotate, so that the opposite lower clamping plates (1105) approach each other and move away from each other after being inserted into the insertion slot (16), so that the lower clamping plate (1105) cooperates with the upper clamping plate (1104) through the first roller gap (17) on the second roller conveyor (2) to grip the bagged casing (8), and make the farthest distance between the two opposite bagged casings (8) less than the width of the box (7), so that the bagged casing (8) is transferred into the box (7).

2. The automatic casing packing and palletizing device according to claim 1, characterized in that, A spring is installed inside the lower clamping plate (1105), and a connecting rod (1106) is slidably connected inside the lower clamping plate (1105). A roller (1107) is rotatably installed at the lower end of the connecting rod (1106). When the lower clamping plates (1105) are close to each other inside the box (7), the spring relaxes so that the roller (1107) moves away from the lower clamping plate (1105) and the lower end of the roller (1107) abuts against the bottom of the box (7) or the upper surface of the bagged casing (8) that has been laid, in order to compact the bagged casing (8).

3. The automatic casing packing and palletizing device according to claim 2, characterized in that, The first roller conveyor (1) has first limiting plates (12) installed on both sides at both ends of the gripping assembly (11). The two sets of first limiting plates (12) form a horn-shaped structure for limiting the conveying of the box (7).

4. The automatic casing packing and palletizing device according to claim 3, characterized in that, The minimum distance between the two first limit plates (12) is adjusted by bolts.

5. The automatic casing packing and palletizing device according to claim 4, characterized in that, The first roller conveyor (1) is equipped with a first electric telescopic cylinder (14) at the bottom. The first electric telescopic cylinder (14) is equipped with a second limiting plate (13) at the lifting end. The upper end of the second limiting plate (13) passes through the gap between the second rollers on the first roller conveyor (1) and abuts against the box body (7).

6. The automatic casing packing and palletizing device according to claim 5, characterized in that, The swing plate (15) is located in the middle of the second roller conveyor (2). The bottom of the second roller conveyor (2) is equipped with a servo motor (19) for driving the swing plate (15) to swing. When the swing plate (15) swings to one side, the bagged casing (8) moves along the swing plate (15) to the opposite side.

7. The automatic casing packing and palletizing device according to claim 6, characterized in that, A limit frame (18) is installed at the end of the second roller conveyor (2) at the position of the insertion notch (16). The limit frame (18) is of a "U" - shaped structure and is used for limiting the position when the bagged casing (8) is grabbed.

8. An automatic casing packing and palletizing device according to any one of claims 1-7, characterized in that, The driving member includes a second electric telescopic cylinder (1110) fixed inside the connecting frame (1101). There are two second electric telescopic cylinders (1110) in total. The telescopic ends of the two second electric telescopic cylinders (1110) are both equipped with racks (1109) that are vertically slidably connected to the connecting frame (1101). One end of the upper shaft (1102) and the lower shaft (1103) are both equipped with gears (1108) that respectively mesh with the racks (1109).

9. An automatic casing packing and palletizing device according to claim 8, characterized in that, It also includes: A gantry (9) is arranged between the first roller conveyor (1) and the second roller conveyor (2). A double - axis actuator (10) is fixed to its upper end. The output end of the double - axis actuator (10) is fixedly connected to the connecting frame (1101) and is used to adjust the position of the grasping component (11) on the x - z axis.

10. An automatic casing packing and palletizing device according to claim 9, characterized in that, A carton sealer (3) is also provided on the first roller conveyor (1), and the carton sealer (3) is located downstream of the double - axis actuator (10). A palletizing area (4) is also provided downstream of the first roller conveyor (1). A storage rack (6) is arranged in the palletizing area (4), and a palletizing robot (5) for transferring the box body (7) from the first roller conveyor (1) to the storage rack (6) is installed in the palletizing area (4).

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