A fully automatic dumpling wrapper boxing production line

Abstract

The application discloses a full-automatic dumpling wrapper boxing production line, which comprises the following: a work station type packaging box conveyor, which is provided with a plurality of packaging box work stations and is used for step-by-step conveying of the packaging boxes; a dumpling wrapper conveyor, which is used for conveying dumpling wrappers to preset grabbing positions; a mechanical arm grabbing mechanism, which is installed on a rack and is used for grabbing the dumpling wrappers from the dumpling wrapper conveyor and placing the dumpling wrappers into the packaging boxes of the packaging box work stations; a packaging box stacking and falling mechanism, which is used for single-time falling of the stacked empty boxes one by one; an empty box conveyor, which is used for conveying the fallen empty boxes to the inlet of the work station type packaging box conveyor; a full box conveyor, which is connected with the outlet of the work station type packaging box conveyor and is used for outputting the finished boxes filled with the dumpling wrappers; and a controller, which is electrically connected with each mechanism and is used for realizing synchronous linkage of the box supplying, positioning, grabbing and boxing.

Description

Technical Field

[0001] This invention relates to the field of packaging technology, and more specifically, to a fully automated dumpling wrapper boxing production line. Background Technology

[0002] In the current field of automated food packaging, automatic dumpling wrapper boxing equipment has been gradually applied to large-scale production, but it still generally faces several technical bottlenecks. Existing equipment mostly adopts a decentralized mechanism design, and the various action units (such as box feeding, conveying, gripping, and boxing) lack unified coordination, resulting in unreasonable cycle time matching. During operation, phenomena such as material waiting, empty box delays, or material blockage shutdowns frequently occur, seriously affecting production continuity and efficiency.

[0003] Packaging box conveying often relies on simple baffles or belts for pushing, with a crude positioning method lacking rigid constraints and precise feedback. This makes the packaging boxes prone to offset and tilting during conveying, leading to problems such as misaligned boxes and product damage. The box feeding mechanism has a simple structure and insufficient reliability, often resulting in box jams, stacking, or missing boxes. Moreover, most equipment lacks a complete detection and protection mechanism, making it difficult to effectively identify missing boxes, empty packs, or missing boxes, thus affecting the finished product qualification rate.

[0004] In the dumpling skin grasping process, a single type of suction cup or mechanical clamp is generally used, which is not well adapted to thin, soft and easily sticky dumpling skins, and is prone to sticking, damage, grasping off-center or grasping too much / missing, resulting in low packaging consistency.

[0005] In addition, existing equipment generally suffers from problems such as complex model changeover and debugging, the need to replace a large number of mechanical tooling, unreasonable hygienic structure design (such as the existence of cleaning dead corners and non-food grade contact materials), and low level of intelligence, making it difficult to meet the comprehensive needs of modern food industry for high stability, high hygiene standards, flexible production and intelligent monitoring.

[0006] Therefore, there is an urgent need for a fully automated dumpling wrapper packaging production line to solve the above problems. Summary of the Invention

[0007] The purpose of this invention is to provide a fully automatic dumpling wrapper packaging production line to overcome the above-mentioned defects in the prior art.

[0008] The technical solution to achieve the objective of this invention is: a fully automatic dumpling wrapper packaging production line, comprising: The station-type packaging box conveyor is equipped with multiple packaging box stations for step-by-step conveying of packaging boxes; A dumpling skin conveyor is used to transport dumpling skins to a preset gripping position. The robotic arm gripper mechanism, mounted on the frame, is used to grab dumpling wrappers from the dumpling wrapper conveyor and place them into packaging boxes at the packaging box station. A packaging box stacking and detaching mechanism is used to detach stacked empty boxes one by one at a time; The empty box conveyor transports the detached empty boxes to the inlet of the station-type packaging box conveyor; The full-box conveyor connects at its inlet to the outlet of the station-type packaging box conveyor, and is used to output finished boxes filled with dumpling wrappers. The controller is electrically connected to each mechanism to achieve synchronous linkage of box feeding, positioning, gripping and box packing.

[0009] Furthermore, the workstation-type packaging box conveyor includes: a first conveyor base, a sprocket drive assembly, a first drive assembly, and a chain plate mounted on the first conveyor base; the sprocket drive assembly includes a driving sprocket, a driven sprocket, and a chain; the driving sprocket is drively connected to the first drive assembly; The chain is evenly provided with multiple baffles, which divide the chain plate into multiple packaging box stations and push the packaging boxes to move on the chain plate.

[0010] Furthermore, guide rails are provided on both sides of the first conveyor base; a cylinder clamp and a first position detection sensor are also installed on the first conveyor base; the first drive assembly, the cylinder clamp, and the first position detection sensor are all electrically connected to the controller; the cylinder clamp is used to fix the packaging box during boxing; the first position detection sensor is used to detect the position of the baffle.

[0011] Furthermore, the dumpling skin conveyor includes a conveyor frame and a conveyor belt, a conveyor motor, and a second position detection sensor mounted on the conveyor frame; the conveyor belt and the conveyor motor are connected in a driving connection. The conveyor motor and the second position detection sensor are electrically connected to the controller; the second position detection sensor is used to detect the position of the dumpling wrapper.

[0012] Furthermore, the robotic arm gripper mechanism includes a robotic arm assembly and a plurality of mechanical gripper assemblies fixed to the end of the robotic arm assembly; the plurality of mechanical gripper assemblies are evenly distributed at the end of the robotic arm assembly; the robotic arm assembly and the plurality of mechanical gripper assemblies are all electrically connected to the controller.

[0013] Furthermore, the mechanical gripper assembly includes a gripper cylinder and multiple grippers; the grippers have an L-shaped tooth structure, and their horizontal sections are provided with arc-shaped chamfers and micro-protrusion anti-slip textures to avoid puncturing or squeezing and deforming dumpling wrappers during gripping; the multiple grippers are symmetrically distributed on both sides of the gripper cylinder, with at least two grippers on each side.

[0014] Furthermore, the conveyor belt of the dumpling skin conveyor is provided with multiple guide strips at equal intervals along the conveying direction; the guide strips are made of food-grade PU material; a limiting groove for carrying dumpling skins is formed between adjacent guide strips, and the dumpling skins are kept at a distance from the surface of the conveyor belt; When the mechanical gripper assembly is in the open state, the gripper can be inserted into the limiting groove, and after it has reached the lower position, it is driven to close by the gripper cylinder to clamp the dumpling skin from both sides of the bottom, thus achieving the gripping function.

[0015] Furthermore, the packaging box stacking and detaching mechanism is installed above the empty box conveyor. The packaging box stacking and detaching mechanism includes a detaching frame, a stacking bin fixed on the detaching frame, and a suction cup assembly. The detaching frame is fixed on the empty box conveyor, the stacking bin is located above the empty box conveyor, and the suction cup assembly is installed below the empty box conveyor for sucking the packaging boxes in the stacking bin onto the conveyor belt of the empty box conveyor.

[0016] Furthermore, the stacking compartment includes multiple vertically arranged guide and limiting rods, which form a packaging box stacking area; the upper end of each guide and limiting rod is provided with a guide slope, and the lower end is fixedly connected with scraper teeth; The suction cup assembly includes a vacuum generator, a cylinder frame, a suction cup cylinder, and a suction cup; the vacuum generator and the cylinder frame are fixed on the detachment frame, the suction cup cylinder is mounted on the cylinder frame, the suction cup is mounted on the output end of the suction cup cylinder, and the suction cup is connected to the air passage of the vacuum generator.

[0017] Furthermore, the system also includes a lifting platform mechanism electrically connected to the controller; the lifting platform mechanism includes a lifting frame, a lifting motor and a lifting slide rail mounted on the lifting frame, and a lifting support slidably mounted on the lifting slide rail; the lifting support is driven by the drive end of the lifting motor and is used to smoothly lift and lower along the vertical direction of the lifting slide rail under the drive of the lifting motor; the dumpling skin conveyor is fixedly mounted on the lifting support, and the lifting platform mechanism is used to adjust the height of the dumpling skin conveyor.

[0018] By adopting the above technical solution, the present invention has the following beneficial effects: (1) By adopting unified timing control, the present invention achieves highly synchronized linkage between dumpling skin conveying, empty box supply, packaging box positioning and robotic arm grasping action, and the rhythm of each process is coordinated and consistent, effectively avoiding waiting, material blockage or empty running, and significantly improving the overall line operation efficiency and stability.

[0019] (2) The workstation-type packaging box conveyor of the present invention uses rigid push of baffles and precise tracking of the box position to ensure that the packaging box does not shift or tilt during the filling process; the robotic arm places dumpling skins in a uniform manner, the products are neatly and beautifully arranged, greatly improving the boxing qualification rate and eliminating the problems of breakage and material drop.

[0020] (3) The dumpling skin gripping mechanism of the present invention adopts a special gripper mechanism, which grips the same position and with gentle force. Combined with the limit groove structure design, it effectively prevents the dumpling skin from sticking, breaking, being gripped too much or missing during the gripping process, ensuring product integrity and packaging consistency.

[0021] (4) The present invention uses a stacking and dropping mechanism to achieve reliable box-by-box separation and conveying, completely avoiding box jamming, stacking or missing supply, with low equipment failure rate, suitable for long-term continuous production, and reducing unplanned downtime.

[0022] (5) The equipment of the present invention adopts a fully enclosed protective design. All parts in contact with food are made of food-grade materials. The structure is simple, there are no dead corners, and it is easy to clean and disinfect. It fully complies with food safety production standards. At the same time, it realizes human-machine isolation and is equipped with complete safety protection measures to ensure the safety of operators. Attached Figure Description

[0023] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein... Figure 1 This is a perspective view of the present invention.

[0024] Figure 2 This is a top view of the present invention.

[0025] Figure 3 This is a 3D view of a workstation-type packaging box conveyor.

[0026] Figure 4 This is a 3D view of a dumpling skin conveyor.

[0027] Figure 5 This is a 3D view of the robotic arm's gripper mechanism.

[0028] Figure 6 This is a schematic diagram showing two states of the mechanical gripper assembly during gripping.

[0029] Figure 7 This is a schematic diagram of multiple mechanical gripper components gripping the object.

[0030] Figure 8 This is a side view of the packaging box stacking and detachment mechanism.

[0031] Figure 9 A schematic diagram showing the three states of the packaging box stacking and detachment mechanism.

[0032] Figure 10 This is an enlarged view of point A in the packaging box stacking and detachment mechanism.

[0033] Figure 11 This is a 3D view of the lifting platform mechanism.

[0034] 1. Station-type packaging box conveyor; 1-1. First conveyor base; 1-2. Sprocket drive assembly; 1-2-1. Drive sprocket; 1-2-2. Driven sprocket; 1-2-3. Chain; 1-3. First drive assembly; 1-4. Chain plate; 1-5. Baffle; 1-6. Guide rail; 2. Dumpling skin conveyor; 2-1. Conveyor frame; 2-2. Conveyor belt; 2-3. Conveyor motor; 2-4. Guide bar 3. Robotic arm gripper mechanism; 3-1. Robotic arm assembly; 3-2. Mechanical gripper assembly; 3-2-1. Gripper cylinder; 3-2-2. Gripper; 4. Rack; 5. Packaging box stacking and detaching mechanism; 5-1. Detachment frame; 5-2. Stacking bin; 5-2-1. Guide limit rod; 5-2-2. Scraper teeth; 5-3. Suction cup assembly; 5-3-1. Vacuum generator; 5-3-2. Cylinder frame; 5-3-3. Suction cup cylinder; 5-3-4. Suction cup; 6. Empty box conveyor; 7. Full-box conveyor; 8. Controller; 9. Lifting platform mechanism; 9-1. Lifting frame; 9-2. Lifting motor; 9-3. Lifting slide rail; 9-4. Lifting frame support. Detailed Implementation

[0035] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0036] Example 1: This example provides a fully automatic dumpling wrapper packaging production line, the specific structure of which is as follows: See Figure 1 and Figure 2 The machine is mainly composed of a station-type packaging box conveyor 1, a dumpling skin conveyor 2, a robotic arm gripper mechanism 3, a frame 4, a packaging box stacking and detachment mechanism 5, an empty box conveyor 6, a full box conveyor 7, a controller 8, and a lifting platform mechanism 9. Centralized control and coordinated operation are achieved through the controller 8.

[0037] See Figure 3The station-type packaging box conveyor 1 serves as the main packaging channel, including a first conveyor base 1-1 on which a sprocket drive assembly 1-2, a first drive assembly 1-3, and horizontally arranged chain plates 1-4 are mounted. The sprocket drive assembly 1-2 consists of a driving sprocket 1-2-1, a driven sprocket 1-2-2, and a chain 1-2-3 that drives the two. The driving sprocket 1-2-1 is connected to the first drive assembly 1-3 (such as a servo motor). Multiple vertical baffles 1-5 are fixed at equal intervals on the chain 1-2-3. The baffles 1-5 move with the chain, forming multiple independent packaging box stations on the surface of the chain plates 1-4 for carrying and stepping the packaging boxes.

[0038] The first conveyor base 1-1 is equipped with guide rails 1-6 on both sides to prevent the packaging boxes from shifting laterally; specifically, the width of the guide rails 1-6 is adjustable. Meanwhile, a cylinder clamp (not shown in the figure) and a first position detection sensor (not shown in the figure) are installed at the boxing station. The cylinder clamp can clamp the packaging box to be loaded during boxing, ensuring its fixed position, and release it after loading without affecting the conveying of the packaging box; the first position detection sensor feeds back the position signal of the baffle 1-5 to the controller 8 in real time for precise synchronization of the robotic arm's movements.

[0039] See Figure 4 The dumpling skin conveyor 2 is located on one side of the workstation-type packaging box conveyor 1, and includes a conveyor frame 2-1 on which a conveyor belt 2-2, a conveyor motor 2-3, and a second position detection sensor are installed. The conveyor belt 2-2 is driven by the conveyor motor 2-3 to continuously transport the dumpling skins sent from upstream one by one to the preset gripping position. See also Figure 7 Multiple longitudinal guide strips 2-4 are evenly bonded to the surface of the conveyor belt 2-2 along the conveying direction. The guide strips 2-4 are made of food-grade PU material, offering excellent wear resistance and food safety. A limiting groove is formed between adjacent guide strips 2-4, confining the dumpling wrapper within it. The bottom surface of the wrapper maintains a certain gap with the surface of the conveyor belt 2-2 to prevent direct contact that could lead to adhesion or moisture-induced deformation. A second position detection sensor (such as a photoelectric switch) is installed near the gripping station to detect whether the dumpling wrapper is accurately positioned and transmits the signal to the controller 8 to trigger a gripping command.

[0040] See Figure 5 , Figure 6 and Figure 7The robotic arm gripper mechanism 3 is fixedly mounted on the frame 4, located between the dumpling skin conveyor 2 and the stationary packaging box conveyor 1. This mechanism includes a robotic arm assembly 3-1 and its end effectors—three mechanical gripper assemblies 3-2. The three mechanical gripper assemblies 3-2 are evenly spaced at the end of the robotic arm, with the spacing matching the arrangement of the dumpling skins inside the packaging box, allowing for the simultaneous gripping and packaging of multiple dumpling skins. Each mechanical gripper assembly 3-2 consists of a gripper cylinder 3-2-1 and three L-shaped grippers 3-2-2 symmetrically arranged on both sides. The horizontal section of the grippers 3-2-2 is designed with rounded chamfers and slightly raised anti-slip textures, allowing them to gently conform to the edge of the dumpling skin during closing gripping, providing sufficient friction to prevent slippage while avoiding puncture or compression that could cause deformation. During the gripping process, the grippers, in the open state, descend and insert into the limiting groove of the dumpling skin conveyor 2. Once in position, the gripper cylinder 3-2-1 drives the two grippers to close, performing a clamping gripping motion from both sides of the bottom of the dumpling skin. The robotic arm then moves the skin to the corresponding packaging box station and precisely places it into the box. Specifically, the robotic arm gripper mechanism 3 has two parts, which can be used separately for boxing operations.

[0041] See Figure 8 , Figure 9 and Figure 10 The packaging box stacking and detaching mechanism 5 is located above the starting end of the empty box conveyor 6 for automatic box feeding. This mechanism includes a detaching frame 5-1, on which a stacking bin 5-2 and a suction cup assembly 5-3 are fixed. The stacking bin 5-2 is formed by four vertical guide and limiting rods 5-2-1, creating a stacking area that can accommodate multiple layers of empty boxes. The upper end of the guide and limiting rods 5-2-1 has a guide ramp to facilitate manual or robotic placement of the entire stack of empty boxes, and the lower end is fixedly connected to scraper teeth 5-2-2 to prevent the upper boxes from moving when the suction cup picks up the bottom layer of boxes. The suction cup assembly 5-3 is installed below the empty box conveyor 6 and includes a vacuum generator 5-3-1 and a cylinder frame 5-3-2 fixed to the detaching frame 5-1. The cylinder frame 5-3-2 is equipped with a suction cup cylinder 5-3-3, the output end of which is connected to a suction cup 5-3-4. The suction cup 5-3-4 is connected to the vacuum generator 5-3-1 via an air passage. During operation, the suction cup cylinder 5-3-3 drives the suction cup 5-3-4 to rise and adsorb the empty boxes at the bottom of the stacking bin 5-2, then lowers it to place it onto the conveyor belt of the empty box conveyor 6, achieving sequential detachment and feeding of single boxes. Specifically, there are two packaging box stacking and detachment mechanisms 5, installed along the conveying direction of the empty box conveyor 6.

[0042] The empty box conveyor 6 transports a single empty box to the inlet end of the station-type packaging box conveyor 1, where it is received by baffles 1-5 and enters the boxing cycle; the finished boxes filled with dumpling wrappers are output by the station-type packaging box conveyor 1 to the full box conveyor 7, which continuously sends the finished boxes to the downstream process or palletizing area.

[0043] In addition, the machine is equipped with a lifting platform mechanism 9, used to adjust the height of the dumpling skin conveyor 2 to accommodate dumpling skins of different thicknesses or packaging boxes of different depths. This mechanism includes a lifting frame 9-1, on which a lifting motor 9-2 and a vertically arranged lifting slide rail 9-3 are mounted. A lifting support 9-4 is slidably mounted on the lifting slide rail 9-3 and is connected to the lifting motor 9-2 via a lead screw or synchronous belt drive. The dumpling skin conveyor 2 is fixedly mounted on the lifting support 9-4. Driven by the controller 8, the lifting motor 9-2 can be continuously adjusted to ensure the optimal gripping and unloading position of the dumpling skin conveying plane.

[0044] All motors, cylinders, and sensors are electrically connected to controller 8 (such as a PLC or industrial computer). The system coordinates the actions of each mechanism through a preset program: when the empty box is in place, the dumpling skin is in place, and the packaging box is aligned, the controller synchronously triggers actions such as gripper grabbing, robotic arm movement, and cylinder clamping to achieve high-speed, stable, and high-precision fully automatic boxing operation.

[0045] The specific operation steps of this embodiment are as follows: (1) The dumpling skin conveyor receives the instruction from the electrical control system and the second position detection sensor detects whether there is a dumpling skin at the feeding end. After confirming that it is in place, it starts according to the set rhythm (such as 3 seconds of stillness and 0.3 seconds of running) and conveys the dumpling skin to the gripping station.

[0046] (2) After the dumpling wrapper is in place, the signal is fed back to the electrical control system. The No. 1 robotic arm gripper mechanism immediately starts to grab and move to the boxing position; then the No. 2 robotic arm gripper mechanism starts to grab. The two robotic arm gripper mechanisms move in staggered ways to avoid collision, and both complete the grabbing and unloading within the belt stationary window.

[0047] (3) Synchronously, the packaging box stacking and detachment mechanism responds to the beat signal: after detecting no jamming or stacking of boxes, the suction cylinder of the detachment mechanism 1 extends, the suction cup attaches to the bottom empty box, and retracts after vacuum adsorption; the scraper teeth block the upper box, realizing the separation and detachment of a single box.

[0048] (4) If the detachment mechanism 1 is short of material, it will automatically switch to the detachment mechanism 2 to alternately supply boxes; the empty box falls to the empty box conveyor and is sent to the inlet of the station-type packaging box conveyor. After confirming that it is in place, the box supply cycle is completed.

[0049] (5) The station-type packaging box conveyor moves forward step by step under the push of the baffle; the position of the baffle is controlled by sensor feedback to ensure accurate step distance; the side guardrails prevent the box from shifting; the cylinder clamp clamps the box to be packed before moving.

[0050] (6) After the packaging box arrives at the boxing station, the position sensor triggers the "boxing ready" signal; the robot places the dumpling skins into the designated positions according to the signal (robot 1 places them in position 1, and robot 2 places them in position 2). The three sets of grippers can be controlled independently, and can be activated according to whether there are dumpling skins or not. Robot 1's three sets of grippers are in position 1, and place the dumpling skins into position 1 of the three packaging boxes in three batches. The speed of the robot, grippers and station conveyor is matched according to the overall production speed of the machine. When the production capacity is high, the robot can be set to track position 1 to place the dumpling skins.

[0051] (7) After the boxing is completed, the robot resets and the sensor feedback signal of the grasping completion is sent to the electronic control system; the system then drives the baffle to send out the full box and simultaneously moves the empty box behind to the boxing station to enter the next cycle.

[0052] (8) All links of the entire line are monitored in real time by sensors. The machine will automatically alarm and stop when there is a shortage of materials, jamming, or abnormal positioning. The machine can be resumed after the fault is cleared. The dumpling skin conveyor is installed on the lifting platform and the height is adjustable to adapt to different front-end equipment or material specifications.

[0053] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully automatic dumpling wrapper packaging production line, characterized in that, include: The station-type packaging box conveyor (1) is equipped with multiple packaging box stations to perform step-by-step conveying of packaging boxes; Dumpling skin conveyor (2) is used to convey dumpling skins to a preset gripping position; The robotic arm gripper mechanism (3) is mounted on the frame (4) and is used to grab dumpling skins from the dumpling skin conveyor (2) and put them into the packaging box at the packaging box station; Packaging box stacking and detachment mechanism (5) is used to detach stacked empty boxes one by one in a single operation; The empty box conveyor (6) transports the detached empty boxes to the inlet of the station-type packaging box conveyor (1); The full box conveyor (7) has its inlet connected to the output port of the station-type packaging box conveyor (1) for outputting finished boxes filled with dumpling skins; The controller (8) is electrically connected to each mechanism to realize the synchronous linkage of box feeding, positioning, gripping and box packing; The robotic arm gripper mechanism (3) includes a robotic arm assembly (3-1) and a plurality of mechanical gripper assemblies (3-2) fixed to the end of the robotic arm assembly (3-1); the plurality of mechanical gripper assemblies (3-2) are evenly distributed at the end of the robotic arm assembly (3-1); the robotic arm assembly (3-1) and the plurality of mechanical gripper assemblies (3-2) are all electrically connected to the controller (8); The mechanical gripper assembly (3-2) includes a gripper cylinder (3-2-1) and multiple grippers (3-2-2); the grippers (3-2-2) have an L-shaped tooth structure, and their horizontal sections are provided with arc-shaped chamfers and micro-protrusion anti-slip textures to avoid puncturing or squeezing and deforming dumpling skins during gripping; the multiple grippers (3-2-2) are symmetrically distributed on both sides of the gripper cylinder (3-2-1), with at least two grippers on each side.

2. The fully automatic dumpling wrapper packaging production line according to claim 1, characterized in that, The station-type packaging box conveyor (1) includes: a first conveyor base (1-1), a sprocket drive assembly (1-2), a first drive assembly (1-3), and a chain plate (1-4) mounted on the first conveyor base (1-1); the sprocket drive assembly (1-2) includes a driving sprocket (1-2-1), a driven sprocket (1-2-2), and a chain (1-2-3); the driving sprocket (1-2-1) is connected to the first drive assembly (1-3) in a transmission connection; Multiple baffles (1-5) are evenly provided on the chain (1-2-3), dividing the chain plate (1-4) into multiple packaging box stations and pushing the packaging boxes to move on the chain plate (1-4).

3. The fully automatic dumpling wrapper packaging production line according to claim 2, characterized in that, The first conveyor base (1-1) is provided with guide rails (1-6) on both sides; the first conveyor base (1-1) is also equipped with a cylinder clamp and a first position detection sensor; the first drive assembly (1-3), the cylinder clamp and the first position detection sensor are all electrically connected to the controller (8); the cylinder clamp is used to fix the packaging box when packing; the first position detection sensor is used to detect the position of the baffle (1-5).

4. The fully automatic dumpling wrapper packaging production line according to claim 1, characterized in that, The dumpling skin conveyor (2) includes a conveyor frame (2-1), a conveyor belt (2-2), a conveyor motor (2-3), and a second position detection sensor mounted on the conveyor frame (2-1); the conveyor belt (2-2) and the conveyor motor (2-3) are connected by a drive. The conveying motor (2-3) and the second position detection sensor are electrically connected to the controller (8); the second position detection sensor is used to detect the position of the dumpling skin.

5. The fully automatic dumpling wrapper packaging production line according to claim 1, characterized in that, The conveyor belt (2-2) of the dumpling skin conveyor (2) has multiple guide strips (2-4) evenly spaced along the conveying direction; the guide strips (2-4) are made of food-grade PU material; a limiting groove for carrying dumpling skins is formed between adjacent guide strips (2-4), and the dumpling skins are kept at a distance from the surface of the conveyor belt (2-2); The gripper (3-2-2) of the mechanical gripper assembly (3-2) can be inserted into the limiting groove when it is in the open state, and after it is lowered into place, it is driven to close by the gripper cylinder (3-2-1) to grip the dumpling skin from both sides of the bottom and achieve the gripping.

6. The fully automatic dumpling wrapper packaging production line according to claim 1, characterized in that, The packaging box stacking and detaching mechanism (5) is installed above the empty box conveyor (6). The packaging box stacking and detaching mechanism (5) includes a detaching frame (5-1), a stacking bin (5-2) fixed on the detaching frame (5-1), and a suction cup assembly (5-3). The detaching frame (5-1) is fixed on the empty box conveyor (6), the stacking bin (5-2) is located above the empty box conveyor (6), and the suction cup assembly (5-3) is installed below the empty box conveyor (6) to pick up the packaging boxes in the stacking bin (5-2) onto the conveyor belt of the empty box conveyor (6).

7. The fully automatic dumpling wrapper packaging production line according to claim 6, characterized in that, The stacking compartment (5-2) includes multiple vertically arranged guide and limiting rods (5-2-1), which form a packaging box stacking area; the upper end of the guide and limiting rod (5-2-1) is provided with a guide slope, and the lower end is fixedly connected with scraper teeth (5-2-2). The suction cup assembly (5-3) includes a vacuum generator (5-3-1), a cylinder frame (5-3-2), a suction cup cylinder (5-3-3), and a suction cup (5-3-4). The vacuum generator (5-3-1) and the cylinder frame (5-3-2) are fixed on the detachment frame (5-1). The suction cup cylinder (5-3-3) is mounted on the cylinder frame (5-3-2). The suction cup (5-3-4) is mounted on the output end of the suction cup cylinder (5-3-3). The suction cup (5-3-4) is connected to the air passage of the vacuum generator (5-3-1).

8. The fully automatic dumpling wrapper packaging production line according to claim 1, characterized in that, It also includes a lifting platform mechanism (9), which is electrically connected to the controller (8); the lifting platform mechanism (9) includes a lifting frame (9-1), a lifting motor (9-2) and a lifting slide rail (9-3) mounted on the lifting frame (9-1), and a lifting bracket (9-4) slidably mounted on the lifting slide rail (9-3); the lifting bracket (9-4) is connected to the drive end of the lifting motor (9-2) for smooth lifting and lowering along the vertical direction of the lifting slide rail (9-3) under the drive of the lifting motor (9-2); the dumpling skin conveyor (2) is fixedly mounted on the lifting bracket (9-4), and the lifting platform mechanism (9) is used to adjust the height of the dumpling skin conveyor (2).

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