Automatic rice ball packing machine

Abstract

The application discloses a rice ball automatic packaging machine, comprising a rack, a rotating disc, a plurality of servo driving devices and an electronic control system. The electronic control system controls the motion timing of each servo driving device through an electronic cam mode, so that the rotating disc performs intermittent rotating motion, and when the rotating disc rotates, the actuator is in a first position, and when the rotating disc is stationary, the actuator is in a second position to perform a packaging action. The machine is also integrated with a single sheet of laver automatic sending device (including a dynamic supporting mechanism to separate the laver stack to eliminate the stacking pressure), a rice ball turnover and pushing mechanism (to avoid flying rice balls), a reversible cleaning structure (a hot pressing support and a right side folding plate can be turned over without tools to make the rotating disc vertical), and a quick release cover plate assembly. The application realizes accurate synchronization and flexible adjustment of actions through full servo independent driving and electronic cam synchronous control, effectively solves the problems of laver double sheet suction, rice ball pushing damage and inconvenient equipment cleaning, and improves the production efficiency and reliability.

Description

Technical Field

[0001] This invention relates to the field of food packaging machinery technology, specifically to an automatic rice ball packaging machine. Background Technology

[0002] In the automated packaging production of rice balls, especially in the process of automatically wrapping and securing shaped rice balls (such as triangular rice balls) with seaweed sheets, automatic rice ball packaging machines are key equipment. Existing automatic rice ball packaging machines have significant deficiencies in their drive and control methods.

[0003] On the one hand, some equipment uses multiple independent drive sources (such as multiple cylinders or servo motors) to control the turntable and various actuators (such as the feeding and pressing mechanism, the folding mechanism, the hot pressing mechanism, and the discharging mechanism) separately. Although each action can be adjusted independently, this approach results in a complex equipment structure, high manufacturing costs, and the synchronization between the actuators relies entirely on the precise timing of the electrical control system. If any actuator experiences a response delay or malfunction, it can easily cause interference, leading to machine jamming, material damage, and making it difficult to guarantee the long-term reliability of the equipment.

[0004] On the other hand, some equipment uses a single main motor to simultaneously drive the turntable and various actuators via mechanical cams, connecting rods, and dividers. While this approach achieves mechanical linkage, once the cam profile is machined, the timing and stroke of each action are fixed, making it impossible to flexibly adjust according to changes in product specifications or production capacity requirements, resulting in poor equipment flexibility. Furthermore, the overall machine structure is bulky, limiting capacity increases and failing to meet the high-efficiency, flexible production requirements of modern food packaging.

[0005] In addition, existing equipment has specific problems such as double or multiple sheets being sucked up due to stacking pressure when feeding seaweed, rice balls being thrown away by the horizontal rotation of the baffle when pushing rice balls, and cumbersome disassembly and assembly of functional components when cleaning the equipment.

[0006] Therefore, it is necessary to provide an automatic rice ball packaging machine with a simple drive structure, reliable synchronization, flexible adjustment, and both efficient material handling and convenient cleaning and maintenance capabilities. Summary of the Invention

[0007] To address the problems existing in the prior art, this invention provides an automatic rice ball packaging machine, which achieves efficient, stable, and flexible automated packaging by combining fully servo independent drive with electronic cam synchronous control and integrating structures such as automatic purple menu sheet feeding, smooth rice ball pushing, rapid cleaning and maintenance, and precise pressing.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An automatic rice ball packaging machine includes a frame and a turntable mounted on the frame. The turntable has multiple workstation slots for holding materials. The machine is characterized by further comprising: multiple servo drive devices, each used to drive the turntable and at least one actuator; and an electronic control system communicatively connected to the multiple servo drive devices. The electronic control system is configured to control the movement sequence of each servo drive device via an electronic cam, causing the turntable to rotate intermittently. When the turntable rotates, the actuator is in a first position, and when the turntable is stationary, the actuator is in a second position to perform packaging actions.

[0009] Furthermore, the automatic rice ball packaging machine also includes an automatic seaweed sheet feeding device, which comprises: a hopper unit with a conical discharge port at its bottom; a negative pressure adsorption material handling unit located below the hopper unit for adsorbing seaweed sheets one by one from the conical discharge port and removing them downwards; a conveying unit located below the negative pressure adsorption material handling unit for receiving the removed seaweed and conveying it to the seaweed placement position; and a dynamic support mechanism, including a rotatable support plate that can be screwed into the hopper unit to divide the seaweed pile into an upper storage area and a lower working area located above the conical discharge port, and can be screwed out to release the seaweed from the storage area into the working area; when the support plate is screwed in, its lower surface maintains a preset fixed vertical distance from the conical discharge port.

[0010] Furthermore, the automatic rice ball packaging machine also includes a rice ball flipping and pushing mechanism, which includes: a horizontal guide rail; a support seat that can reciprocate along the horizontal guide rail; a rotating component rotatably mounted on the support seat, on which a rice pushing plate is fixedly mounted; a trajectory control plate fixed on the frame, on which a guide groove is formed, and on which a guide roller is embedded in the guide groove; and a second servo motor for driving the support seat to reciprocate; when the support seat reciprocates, the guide roller rolls along the guide groove, forcing the rotating component to rotate, thereby driving the rice pushing plate to switch between an inclined standby posture above the rice ball and a pushing posture behind the rice ball.

[0011] Furthermore, at least one functional component located above the turntable is connected to the support member via a movable connection structure and is equipped with a manual locking component; when the manual locking component is released, the functional component can be moved from the working position to the cleaning avoidance position by flipping, in which the functional component leaves the vertical projection area of ​​the turntable, so as to allow the turntable to be removed in the vertical direction.

[0012] As a specific implementation, the functional component includes a hot pressing assembly, which includes a left hot pressing bracket and a right hot pressing bracket. The left hot pressing bracket and the right hot pressing bracket are respectively movably connected to the left and right sides of the hot pressing mounting plate through hinges, and are respectively equipped with a first plum blossom handle and a second plum blossom handle.

[0013] As another specific implementation, the functional component includes a right-side folded edge plate, which is suspended on a hoisting fixing plate via a movable plate and a hinge shaft, and is equipped with a third plum blossom handle.

[0014] Furthermore, the automatic rice ball packaging machine also includes a second rice pushing component, which includes: a pre-folded edge guide plate fixed on the frame; a cover plate detachably installed above the pre-folded edge guide plate; a push block slidably disposed between the pre-folded edge guide plate and the cover plate; the cover plate and the pre-folded edge guide plate are connected by a tool-free quick-release structure, the tool-free quick-release structure including a quick-release pin protruding from the surface of the pre-folded edge guide plate and a locking lever movably installed on the quick-release pin, and the edge of the cover plate is provided with mounting feet that can be sleeved on the quick-release pin.

[0015] Furthermore, the automatic rice ball packaging machine also includes a feeding and pressing mechanism, which includes: a hanging plate; a sleeve fixed to the hanging plate; a sliding rod slidably inserted into the sleeve; a push plate fixed to the lower end of the sliding rod; and an elastic element sleeved on the outside of the sliding rod; the sleeve has an oblong hole on its wall, and a pin passes through the oblong hole and is fixed to the sliding rod. The pin cooperates with the oblong hole to limit the sliding stroke of the sliding rod and prevent it from rotating circumferentially.

[0016] In a preferred embodiment, the guide groove includes an inclined driving section and a horizontal holding section connected end to end. The extension direction of the inclined driving section forms an angle with the horizontal guide rail, and the extension direction of the horizontal holding section is parallel to the horizontal guide rail.

[0017] In a preferred embodiment, the dynamic support mechanism further includes a drive assembly, which includes a motor, a lead screw driven by the motor, a slider mounted on the lead screw, and a connecting rod. One end of the connecting rod is hinged to the slider, and the other end is hinged to a drive arm on the support plate.

[0018] The beneficial effects of this invention are as follows: By employing fully servo independent drive combined with electronic cam synchronous control, and using a single programmable motion controller to coordinate the motion timing of all servo motors, precise mechanical linkage between the intermittent rotation of the turntable and the actions of each actuator is achieved. This eliminates the need for complex electrical timing control, fundamentally eliminating timing errors in multi-drive source collaborative control and improving the reliability and stability of the equipment. Simultaneously, operators can modify the electronic cam curve parameters online, enabling flexible production adjustments, with a maximum capacity of 3000 units / hour.

[0019] The automatic sheet feeding device for seaweed uses a dynamic support mechanism to divide the seaweed pile in the silo into a storage area and a working area. When picking up the material, only a small amount of seaweed in the working area that is not subject to the stacking pressure needs to be operated. This effectively solves the problem of picking up material and handling double or multiple sheets caused by excessive pressure. At the same time, it realizes automatic material replenishment and ensures the stability of continuous production.

[0020] The rice ball flipping and pushing mechanism uses a rice pusher that flips from a tilted standby position above the rice ball to a pushing position. The flipping action of the rice pusher occurs entirely in the idle space above and behind the rice ball, without any rotational interference with the horizontal plane where the rice ball is located. This fundamentally eliminates the risk of knocking or crushing the rice ball, and has the advantages of gentle action and precise pushing.

[0021] By modifying functional components such as the hot-press bracket above the turntable and the right-side folding plate into a structure with manual locking and hinged flipping, operators can manually flip and avoid all obstructing components within seconds, clearing the space above the turntable and conveniently removing the turntable vertically for thorough cleaning, significantly reducing the downtime for daily deep cleaning.

[0022] The cover of the second rice-pushing component adopts a tool-free quick-release structure, which allows operators to quickly remove the cover by hand, making room for the turntable to be removed. At the same time, the cover integrates multiple functions such as stop limit, clearance hole, and support roller, achieving a complete unity of structure and function.

[0023] The feeding and pressing mechanism employs an anti-rotation structure with a pin and oblong hole between the sleeve and the sliding rod. This effectively prevents the push plate from rotating circumferentially during movement, ensuring that the push plate and the work station slot remain correctly aligned and guaranteeing the accuracy of the pressing action. Attached Figure Description

[0024] Figure 1 This is a structural diagram of an integrated rice ball packaging machine.

[0025] Figure 2 This is a schematic diagram of the automatic purple menu sheet delivery device.

[0026] Figure 3This is another structural diagram of the purple menu automatic sheet delivery device.

[0027] Figure 4 This is a schematic diagram of the transmission unit.

[0028] Figure 5 This is a schematic diagram of the transmission unit from another perspective.

[0029] Figure 6 This is a schematic diagram of the transmission unit from another perspective.

[0030] Figure 7 This is a structural diagram of the silo unit.

[0031] Figure 8 This is a structural diagram of the first rice-pushing component.

[0032] Figure 9 This is a schematic diagram of the first rice-pushing component from another perspective.

[0033] Figure 10 This is a schematic diagram of the first rice-pushing component from another perspective.

[0034] Figure 11 This is a schematic diagram of the top material feeding mechanism.

[0035] Figure 12 This is a schematic diagram of the pre-folded edge guide plate.

[0036] Figure 13 This is a schematic diagram of the second rice-pushing component.

[0037] Figure 14 This is a schematic diagram of the second rice-pushing component from another perspective.

[0038] Figure 15 This is a schematic diagram of the second rice-pushing component from another perspective.

[0039] Figure 16 This is a schematic diagram of the second rice-pushing component from another perspective.

[0040] Figure 17 This is a schematic diagram of the feeding and pressing mechanism.

[0041] Figure 18 This is a schematic diagram of the seaweed folding mechanism.

[0042] Figure 19 This is a schematic diagram of the seaweed folding mechanism.

[0043] Figure 20 This is a structural diagram of the overall rice ball packaging machine from another perspective.

[0044] Reference numerals: 1. Frame; 2. Feeding and pressing mechanism; 3. Laver folding mechanism; 4. Support seat; 5. Rotating component; 6. Push plate; 7. Turntable; 8. Slider; 11. Crank; 12. Guide roller; 13. Fixed chassis; 14. Discharge port; 21. Circular conveyor belt; 22. Flexible scraper; 23. Horizontal stabilizing trough plate; 31. Lifting plate; 32. Suction cup mounting plate; 33. Negative pressure suction cup; 34. Vacuum generator; 35. Pushing plate; 36. Elastic element; 37. Waist-shaped hole; 38. Sleeve; 39. Sliding rod; 61. Bending component; 62. L-shaped connector; 73. Station slot; 95. Hanging plate; 100. Hopper unit; 102. Top material mechanism; 10 7. Track control board; 108. Guide groove; 109. Inclined drive section; 110. Horizontal holding section; 111. Conical discharge port; 112. Strip notch; 115. Top material motor; 116. Top plate; 130. Drive mechanism; 140. Motor fixing plate; 160. First connecting rod; 170. Movable roller; 180. Guide plate; 190. Long guide groove; 200. Conveying unit; 210. Second connecting rod; 221. Waist hole; 300. Negative pressure adsorption material handling unit; 302. Folding motor; 303. Left folding plate; 304. Left folding plate notch; 305. Right folding plate; 306. Right folding plate notch; 400. Labeling module; 404. Drive rod; 406. Left hot-press bracket; 407. Left hot-press block; 408. Right hot-press bracket; 409. Right hot-press block; 410. Pre-folded edge guide plate; 411. Triangular hole; 420. Dynamic support mechanism; 421. Support plate; 422. Lead screw; 423. Slider; 424. Connecting rod; 500. Base; 501. Guide rod; 502. Hoisting fixing plate; 510. High-position margin early warning sensor; 513. Connecting rod; 514. Drive plate; 515. Vertical slide rail; 516. Slider; 530. Hot-press mounting plate; 531. Hinge; 532. First plum blossom handle; 533. Second plum blossom handle; 540. Movable plate; 541. Hoisting guide rod; 542. 543. Hinge shaft; 550. Third plum blossom handle; 551. Cover plate; 552. Mounting foot; 553. Bend section; 554. Clearance hole; 555. Roller; 556. Waist hole; 567. Push block; 568. Triangular notch; 569. Guide wheel; 560. Guide groove; 571. Quick release latch; 572. Locking lever; 603. First servo motor; 604. Second servo motor; 605. Third servo motor; 606. Fourth servo motor; 607. Fifth servo motor; 608. Sixth servo motor; 609. Seventh servo motor; 600. Eighth servo motor; 610. Ninth servo motor; 611. Tenth servo motor. Detailed Implementation

[0045] The preferred embodiments of the automatic rice ball packaging machine of the present invention will be described in detail below with reference to the accompanying drawings. These embodiments are intended to fully disclose the technical solution of the present invention, enabling those skilled in the art to understand and implement it, but are not intended to limit the scope of protection of the present invention.

[0046] Overall Machine Overview

[0047] Please see Figures 1 to 20 The automatic rice ball packaging machine provided in this embodiment mainly includes a frame 1, a turntable 7, a fixed chassis 13, a drive system, an automatic purple seaweed sheet feeding device, a rice ball flipping and pushing mechanism (first rice pushing component), a seaweed folding mechanism 3, a hot pressing component, a feeding and pressing mechanism 2, a labeling module 400, a discharge device, and a cleaning and maintenance structure.

[0048] The frame 1 is welded from structural steel and forms the main support structure of the equipment. The turntable 7 is horizontally mounted on the frame 1, and its circumferential edge has multiple workstation slots 73 at equal intervals (6 in this embodiment, but not limited to this) for holding the rice balls and seaweed assembly. The fixed base 13 is fixedly installed on the frame 1, and its upper surface is tightly attached to the bottom of the turntable 7. The bottom openings of the workstation slots 73 are sealed at most workstations, and a discharge port 14 is provided at the discharge workstation.

[0049] II. Drive System (Multi-servo + Electronic Cam)

[0050] The core driving method of this invention is a combination of fully servo independent drive and electronic cam synchronous control. The drive system includes multiple servo drive devices and a programmable motion controller.

[0051] Servo motor configuration

[0052] First servo motor 601

[0053] The output shaft of the first servo motor 601 is connected to the input shaft of the rotary platform (precision reducer) via a coupling. The output end of the rotary platform is fixedly connected to the center of the turntable 7. Unlike traditional mechanical cam dividers, the indexing angle of this rotary platform can be arbitrarily set by the servo motor, for example, it can be set to 6, 8, or more divisions as needed to achieve flexible indexing. The encoder of the first servo motor feeds back the real-time position to the controller as the main shaft position reference of the electronic cam.

[0054] Second servo motor 602

[0055] The second servo motor 602 and its linkage transmission mechanism constitute the drive mechanism 130 of the first rice pushing assembly. Specifically, the motor mounting plate 140 is fixedly mounted on the frame 1, and the second servo motor 602 is fixedly mounted on the motor mounting plate 140. One end of the first connecting rod 160 is fixedly connected to the output shaft of the second servo motor 602 and rotates synchronously with the motor output shaft. The other end of the first connecting rod 160 is equipped with a rotatable movable roller 170. The guide plate 180 is elongated and has a straight long guide groove 190 along its length. One end of the guide plate 180 is hinged to the motor mounting plate 140. The movable roller 170 is embedded in the long guide groove 190. One end of the second connecting rod 210 is hinged to the other end of the guide plate 180, and the other end is hinged to the bearing seat 4. This forms a complete transmission chain from the second servo motor 602, the first connecting rod 160, the guide plate 180, the second connecting rod 210 to the bearing seat 4, converting the continuous rotational motion of the motor into the reciprocating linear motion of the bearing seat 4 (see Part 4 for details).

[0056] Third servo motor 603

[0057] The output shaft of the third servo motor 603 is connected to a connecting shaft via a coupling. This connecting shaft is fixedly connected to the rotation shaft of the left folding plate 303 of the seaweed folding mechanism 3, and is used to drive the left folding plate 303 to perform a rotational folding action.

[0058] Fourth servo motor 604

[0059] The output shaft of the fourth servo motor 604 is connected to the connecting rod 513 via an eccentric wheel or crank. The other end of the connecting rod 513 is hinged to a horizontally positioned drive plate 514. The back of the drive plate 514 is fixedly connected to a slider 516, which is embedded in a vertical slide rail 515. The drive plate 514 is also fixedly connected to the hot-press mounting plate 530 via at least one drive rod 404. When the fourth servo motor 604 rotates, it drives the drive plate 514 to slide up and down along the vertical slide rail 515 via the linkage mechanism, thereby driving the hot-press mounting plate 530 and the hot-press bracket to reciprocate up and down via the drive rod 404. At the same time, the hot-press mounting plate 530 is connected to the hanging plate 95 of the feeding and pressing mechanism 2 via a linkage assembly, realizing the synchronous lifting and lowering of the feeding and pressing mechanism.

[0060] Fifth servo motor 605

[0061] The fifth servo motor 605 is connected to a vertical linear module (e.g., a lead screw module), and the lifting plate 31 is fixed on the slider of the module to drive the lifting plate 31 of the negative pressure adsorption material handling unit 300 in the purple menu automatic feeding device to move up and down.

[0062] Sixth servo motor 606

[0063] The sixth servo motor 606 is connected to the drive roller of the annular conveyor belt 21 of the conveying unit 200 via a synchronous pulley, and is used to drive the conveyor belt 21 to make stepping motion to transport a single sheet of seaweed to the seaweed placement position 114.

[0064] 7th Servo Motor 607

[0065] The seventh servo motor 607 is fixedly mounted on the frame 1. Its output shaft is connected to the push block 560 through a lead screw or synchronous belt, and is used to drive the push block 560 of the second push assembly (quick-release cover assembly) to perform horizontal reciprocating motion.

[0066] Eighth servo motor 608

[0067] The eighth servo motor 608 is connected to the lead screw via a coupling. The nut seat on the lead screw is fixedly connected to the top material discharge plate, which is used to drive the top material discharge plate of the discharge device to move up and down, and push the finished rice ball out of the work station slot 73.

[0068] Ninth Servo Motor 609

[0069] The ninth servo motor 609 drives a linear module. The slider of this module is fixedly connected to the pusher plate and is used to drive the pusher plate of the discharge device to make a horizontal pushing motion, pushing the raised rice ball into the inclined slide.

[0070] Labeling servo motor 610

[0071] The labeling servo motor 610 drives the labeling head of the labeling module 400 (e.g., a servo-driven swing arm or linear module) to peel the printed label from the backing paper and paste it to the designated position on the rice ball packaging.

[0072] Electronic Cam Control

[0073] All servo motors are connected to a programmable motion controller (PLC or dedicated motion control card). The controller has a preset electronic cam curve (i.e., electronic function). This curve defines the functional relationship between the position, speed, and acceleration of each slave axis servo motor (second to ninth servo motors and labeling servo motor) and the spindle position, based on the spindle position of the first servo motor (turntable drive).

[0074] For example, when turntable 7 rotates to a certain angle, the controller calculates the position that the second servo motor should be in based on the electronic cam curve, and outputs corresponding pulses or bus commands to make the carrier 4 move precisely to the designated point. In this way, the timing of each actuator is precisely locked: when turntable 7 rotates, the actuator is in the raised or retracted position; when turntable 7 is stationary, the actuator is in the feed or press-down position.

[0075] Operators can modify the parameters of the electronic cam curve (such as phase offset, stroke ratio, etc.) online through the human-machine interface to adjust the timing and stroke of each action, thereby adapting to the packaging needs of rice balls of different sizes or achieving different production capacities (up to 3000 pieces / hour).

[0076] III. Purple Menu Automatic Sheet Dispenser

[0077] Please see Figure 2 , Figure 3 The automatic purple seaweed sheet feeding device is used to separate and transport stacks of purple seaweed sheets to a predetermined workstation (seaweed placement station 114). The device includes a hopper unit 100, a negative pressure adsorption material handling unit 300, a conveying unit 200, and a dynamic support mechanism 420.

[0078] (a) Silo Unit 100

[0079] The hopper unit 100 is a rectangular vertical hopper body with an open top and a converging bottom, welded from stainless steel plates, with a conical discharge port 111 at its bottom. The minimum lateral dimension of this discharge port is slightly smaller than the external dimensions of a single sheet of seaweed when laid flat, to ensure that the seaweed undergoes a certain elastic deformation when pulled out, thus achieving single-sheet separation. Horizontal strip-shaped notches 112 are symmetrically opened at the lower part of both side walls of the hopper. The width of these notches is slightly greater than the thickness of the support plate 421 (described later), and the height is sufficient to allow the support plate 421 to be rotated and inserted.

[0080] (ii) Dynamic support institution 420

[0081] The dynamic support mechanism 420 is used to divide the seaweed pile in the hopper into an upper storage area and a lower working area located above the discharge port 111 to isolate the stacking pressure.

[0082] The mechanism includes a support plate 421 and its drive assembly. The support plate 421 is a rectangular metal plate, one end of which is hinged to a bearing seat fixed to the frame 1 via a vertical short axis, allowing it to swing freely in the horizontal plane around this vertical axis; the end with the short axis is the fixed end, and the other end away from the short axis is the free end. The free end can be screwed into or out of the hopper through a strip-shaped notch 112 on the side wall of the hopper, and the screwing depth only needs to be sufficient to support the seaweed pile, without the entire plate needing to pass through the hopper.

[0083] The drive assembly constitutes a crank-slider mechanism, including a motor (which can be driven by a separate servo motor or stepper motor, or controlled by a unified controller), a lead screw 422, a slider 423, and a connecting rod 424. The motor is fixed to the frame 1, and its output shaft is coaxially connected to the lead screw 422. The slider 423 contains a nut that matches the lead screw 422 and is fitted onto the lead screw 422. When the motor drives the lead screw 422 to rotate forward or reverse, the slider 423 performs a precise linear reciprocating motion along the lead screw axis. One end of the connecting rod 424 is hinged to the side of the slider 423, and the other end is hinged to the drive arm extending from the outside of the support plate 421 (or directly to the hinge point on the plate), thereby converting the linear motion of the slider 423 into the rotational oscillation of the support plate 421 around a vertical axis.

[0084] In the screw-in state, the free end of the support plate 421 extends into the hopper through the strip-shaped notch 112. The plate is roughly horizontal, with its upper surface supporting the entire weight of the stack of seaweed above, forming the upper storage area. A preset fixed vertical distance H (e.g., 28mm) is maintained between its lower surface and the top of the conical discharge port 111, creating a lower working area with a constant capacity. The amount of seaweed in the working area is determined solely by the spatial dimensions and is not affected by the pressure of the stack above.

[0085] (III) Negative pressure adsorption material handling unit 300

[0086] The negative pressure adsorption material handling unit 300 is located below the hopper and is used to adsorb seaweed sheets one by one from the discharge port 111 and remove them downwards. It includes a lifting plate 31, a suction cup mounting plate 32, at least one negative pressure suction cup 33, and a vacuum generator 34.

[0087] The lifting plate 31, serving as a motion base, is mounted on an independent vertical linear module driven by a fifth servo motor, enabling precise reciprocating lifting motion in the vertical direction. The suction cup mounting plate 32, fixed to the upper surface of the lifting plate 31, is a flat plate with a width smaller than the gap between the two conveyor belts 21 (described later), allowing it to pass through the conveying plane without interference. Negative pressure suction cups 33 are mounted on the upper surface of the suction cup mounting plate 32; their number can be flexibly configured according to the size of the seaweed, and they are made of food-grade silicone with elastic sealing lips. The air paths of all suction cups are connected in parallel to the vacuum generator 34, which is fixed to the frame 1 or the lifting plate 31 and connected to each negative pressure suction cup 33 via air pipes, generating or releasing vacuum under controller commands.

[0088] (iv) Transmission Unit 200

[0089] The conveying unit 200 is located below the negative pressure adsorption material handling unit 300 and is used to receive the extracted seaweed and transport it downstream. It includes two parallel and synchronously operating annular conveyor belts 21, with a gap between them. The width of this gap is greater than the width of the suction cup mounting plate 32 and the negative pressure suction cup 33, allowing the suction cup mounting plate 32 to move up and down through the gap without interfering with the conveyor belts. Each conveyor belt has multiple flexible scrapers 22 (made of food-grade polyurethane) on its outer surface. The flexible scrapers on the two conveyor belts are aligned along the conveying direction to apply a uniform pushing force simultaneously from the rear edge of the seaweed during transport, preventing the seaweed from curling or deviating. The conveyor belts 21 are driven by a sixth servo motor via a synchronous belt, and their end position is the seaweed placement position 114.

[0090] In addition, a working area level sensor (such as a through-beam photoelectric sensor) is installed at the discharge port 111 to detect whether there is laver at the discharge port; a high level reserve early warning sensor 510 is installed on the upper side wall of the silo to monitor the total amount of laver.

[0091] (V) Working Principle

[0092] During initialization, the support plate 421, driven by the drive component, rotates into the hopper, supporting the entire stack of seaweed and forming an upper storage area and a lower working area. The working area stores a small amount of seaweed (e.g., 5-15 sheets), which is largely unaffected by stacking pressure.

[0093] During material retrieval, the fifth servo motor drives the lifting plate 31 to rise, and the suction cup mounting plate 32 and the negative pressure suction cup 33 move upward through the gap in the conveyor belt 21 until the negative pressure suction cup 33 contacts the bottom layer of seaweed in the working area. The controller instructs the vacuum generator 34 to operate, and the negative pressure suction cup 33 adsorbs the seaweed. Subsequently, the lifting plate 31 descends, pulling the seaweed down and out of the hopper through the conical discharge port 111. The seaweed undergoes elastic deformation due to its flexibility to pass through the small discharge port without breaking. When the lifting plate 31 descends to the release position (slightly below the bearing surface of the conveyor belt 21), the controller shuts off the vacuum generator 34, and the seaweed is released onto the conveyor belt 21. The sixth servo motor drives the conveyor belt 21 to step forward one station, transporting the seaweed to the end (seaweed placement position 114). The lifting plate 31 continues to descend to the standby position, completing one material retrieval cycle.

[0094] Material replenishment control: When the material level sensor in the working area detects that there is no seaweed at the outlet (or the controller counts the number of material feeding cycles to a preset threshold, such as 20 times), the controller instructs the dynamic support mechanism 420 to perform material replenishment: the support plate 421 rotates out, and the seaweed in the upper storage area falls as a whole under the action of gravity, filling the working area; then the support plate 421 rotates back into the fallen seaweed pile, re-separating a new working area. If the high-level inventory warning sensor 510 detects that the total amount of seaweed in the hopper is insufficient (for example, the top of the seaweed pile drops below the sensor), it issues a warning signal to prompt manual material replenishment.

[0095] IV. Rice Ball Flipping and Pushing Mechanism (First Rice Pushing Component)

[0096] Please see Figure 8 , Figure 9 , Figure 10 The rice ball flipping and pushing mechanism (i.e., the first rice pushing component) is used to push the rice ball onto the top plate 116 of the top feeding mechanism 102. The mechanism includes a horizontal guide rail 2, a support seat 4, a rotating component 5, a rice pushing plate 6, a trajectory guiding structure, and a drive mechanism.

[0097] (a) Horizontal guide rail and bearing seat

[0098] The horizontal guide rail 2 is fixedly mounted on the frame 1 and arranged horizontally. The slider 8 is slidably mounted on the horizontal guide rail 2 and can move back and forth horizontally along the guide rail. The support base 4 is fixedly connected to the slider 8 by screws and moves together with the slider 8.

[0099] (ii) Horizontal stabilizing trough plate

[0100] A horizontal stabilizing trough plate 23 is also fixed on the frame 1. The horizontal stabilizing trough plate 23 has a waist hole 221 extending in the horizontal direction. The end of the rotating shaft of the rotating component 5 near the rice pushing plate 6 is movably inserted into the waist hole 221. The waist hole 221 provides support and guidance for the end of the rotating shaft, restricts the axial movement of the rotating component 5, and ensures that the rotating component 5 does not wobble during rotation. This ensures that the rice pushing plate 6 maintains the correct working position during flipping and pushing, improving the accuracy of action and the stability of operation.

[0101] (iii) Rotating parts and rice pusher

[0102] The rotating component 5 includes a rotating shaft, which is horizontally inserted into a bearing seat hole in the bearing base 4 via a bearing, allowing the entire rotating component 5 to rotate freely in a vertical plane. A rice pusher plate 6 is fixedly installed at one end of the rotating component 5. As an optional connection method, the rice pusher plate 6 and the rotating component 5 can be fixedly connected via a connecting assembly, which includes a bent component 61 and an L-shaped connector 62: the bent component 61 is fixedly sleeved on the rotating shaft of the rotating component 5, one side of the L-shaped connector 62 is fixedly connected to the bent component 61, and the rice pusher plate 6 is fitted onto the other side of the L-shaped connector 62. This arrangement facilitates the disassembly and replacement of the rice pusher plate 6 and the adjustment of its relative position.

[0103] A crank 11 is fixedly installed at the other end of the rotating component 5 (the end opposite to the rice pusher plate 6). The crank 11 and the rice pusher plate 6 are arranged at a certain angle on the rotating component 5. A rotatable guide roller 12 is installed at the free end of the crank 11. The guide roller 12 constitutes the mating part of the rotating component 5 that cooperates with the trajectory guiding structure described later.

[0104] (iv) Trajectory Guiding Structure

[0105] The trajectory guiding structure is a trajectory control plate 107 fixed on the frame 1, and the trajectory control plate 107 has a closed guide groove 108 with a specific contour. The guide roller 12 is embedded in the guide groove 108 and can roll along the contour trajectory of the guide groove 108. The contour of the guide groove 108 is smoothly connected by two groove segments with different directions: an inclined drive section 109 and a horizontal holding section 110. The inclined drive section 109 extends inclined from low to high, and its extension direction forms an angle (e.g., 45 degrees) with the horizontal guide rail 2; the extension direction of the horizontal holding section 110 is parallel to the horizontal guide rail 2.

[0106] (v) Drive mechanism

[0107] The drive mechanism is used to drive the support seat 4 to reciprocate along the horizontal guide rail 2. As a specific drive implementation, in this embodiment, the drive mechanism 130 includes a motor fixing plate 140, a second servo motor 602, a first connecting rod 160, a movable roller 170, a guide plate 180, and a second connecting rod 210.

[0108] The motor mounting plate 140 is fixedly mounted on the frame 1, and the second servo motor 602 is fixedly mounted on the motor mounting plate 140. One end of the first connecting rod 160 is fixedly connected to the output shaft of the second servo motor 602 and rotates synchronously with the motor output shaft. The other end of the first connecting rod 160 is equipped with a rotatable movable roller 170.

[0109] The guide plate 180 is elongated and has a straight guide groove 190 along its length. One end of the guide plate 180 is hinged to the motor mounting plate 140 via a hinge shaft and a bearing, allowing the guide plate 180 to swing freely around the hinge point. The movable roller 170 is fitted into the long guide groove 190 of the guide plate 180, forming a sliding fit.

[0110] One end of the second connecting rod 210 is movably hinged to the other end of the guide plate 180 via a hinge shaft and bearing, and the other end of the second connecting rod 210 is movably hinged to the bearing seat 4 via a hinge shaft and bearing. This forms a complete transmission chain from the second servo motor 602, the first connecting rod 160, the guide plate 180, the second connecting rod 210 to the bearing seat 4. This drive mechanism converts the continuous rotary motion of the motor into the reciprocating linear motion of the bearing seat 4 through pure mechanical linkage transmission. It has a simple and reliable structure, requires no air source or hydraulic system, and reduces the power source requirements and maintenance costs of the equipment.

[0111] (vi) Working principle

[0112] In the initial state, the support seat 4 is located near the front end of the rice ball, the guide roller 12 is located at the low point of the tilt drive section 109, and the rice pusher 6 is in a tilted posture, with its lower end suspended above the rice ball to be pushed (tilted standby posture). In this tilted posture, the angle between the surface of the rice pusher 6 and the horizontal plane is an acute angle (e.g., 45 degrees), allowing it to quickly enter the pushing position with a shorter rotational stroke.

[0113] When the second servo motor 602 starts, it drives the support seat 4 to move backward through the first connecting rod 160, guide plate 180, and second connecting rod 210. The guide roller 12 slides from the low point to the high point along the inclined drive section 109, forcing the crank 11 to swing, which in turn drives the rotating component 5 to rotate. The rice pusher 6 flips backward and downward, falling from above the rice ball to behind it, and gradually transitions to a near-horizontal pushing posture. When the guide roller 12 enters the horizontal holding section 110, since the groove direction is parallel to the movement direction of the support seat 4, the crank 11 no longer swings, and the posture of the rice pusher 6 is mechanically locked, with its surface parallel to the extension direction of the horizontal guide rail 2.

[0114] The support seat 4 continues to move backward, and the rice pusher 6 pushes the rice ball horizontally onto the top plate 116 of the top feeding mechanism 102 in a fixed posture. The top plate 116 is located directly below the seaweed placement position 114.

[0115] After the push is completed, the second servo motor 602 continues to rotate, driving the carrier 4 to move forward and reset via the first link 160, guide plate 180, and second link 210. The guide roller 12 retracts along the horizontal holding section 110 and re-enters the tilt drive section 109, forced to return from the high point to the low point. The crank 11 swings in the opposite direction, and the push plate 6 flips in the opposite direction, turning upward from the pushing posture and returning to the tilt standby posture, waiting for the next push.

[0116] Since the flipping action of the rice pusher 6 occurs entirely in the unused space above the rice ball, it avoids rotating within the horizontal plane where the rice ball is located, thus fundamentally eliminating the risk of the rice pusher flying off or crushing the rice ball.

[0117] V. Lifting and Converging and Pre-folding the Edge

[0118] (a) Top Material Mechanism

[0119] The top-feeding mechanism 102 is located directly below the seaweed placement position 114 and includes a top-feeding motor 115 and a top plate 116. The top-feeding motor 115 is fixedly mounted on the frame 1, and its output shaft is connected to the top plate 116 through a lead screw or cam mechanism, driving the top plate 116 to perform vertical lifting and lowering movements. The upper surface of the top plate 116 is used to support the rice balls.

[0120] (II) Spatial Position Relationship

[0121] The seaweed placement position 114 is the end position of the circular conveyor belt 21 in the conveying unit 200, located directly above the top plate 116. When the rice ball is pushed onto the top plate 116 by the first rice pushing component, the seaweed has already been transported to the seaweed placement position 114 by the conveyor belt 21 driven by the sixth servo motor. At this time, the rice ball and the seaweed are in an up-down facing relationship, with the rice ball below and the seaweed above, leaving a certain gap between them.

[0122] (III) Lifting and Converging

[0123] The top material motor 115 starts, driving the top plate 116 to rise, which in turn moves the rice ball on it upwards. When the rice ball rises to contact the seaweed, the two merge to form a "rice ball-seaweed" stacked assembly. The top plate 116 continues to rise, pushing the assembly upwards further.

[0124] (iv) Pre-folded edge guide plate

[0125] Please see Figure 12 In the lifting path, a pre-folded edge guide plate 410 is provided. The pre-folded edge guide plate 410 is a plate-shaped component with a triangular hole 411 in the center that matches the shape of the rice ball. The size of the triangular hole 411 is slightly larger than the horizontal projection size of the rice ball, but smaller than the outer dimensions of the seaweed when it is flat.

[0126] As the assembly rises, the edge of the seaweed first contacts the lower surface of the pre-folded guide plate 410. As the assembly continues to rise, the seaweed edge is forced to bend upwards along the contour of the triangular hole 411, thus being initially folded towards the side of the rice ball. When the rice ball extends beyond the upper surface of the triangular hole 411, the lifting stops. At this point, the four edges of the seaweed have been folded up and are close to the side of the rice ball, preparing for the next step of horizontal pushing to complete the bottom wrapping.

[0127] VI. Second Rice Push Component (Quick-Release Cover Plate Component)

[0128] Please see Figure 13-16 The second rice-pushing component is used to horizontally push the lifted "rice ball-seaweed" assembly to the inlet of the workstation slot 73 on the turntable 7. This component also features a tool-free quick-release structure for easy cleaning and maintenance. It includes a pre-folded guide plate 410, a cover plate 550, a pusher block 560, and a quick-release structure.

[0129] (a) Pre-folded side guide plate 410

[0130] The pre-folded guide plate 410 has a quick-release pin 570 protruding on each side of its surface. Each quick-release pin 570 is movably fitted with a locking lever 571 via a rotating shaft. The locking lever 571 can swing around the rotating shaft between a locked position and a released position.

[0131] (ii) Cover plate 550

[0132] The cover plate 550 is a plate-shaped component that is detachably installed above the pre-folded edge guide plate 410, with a gap between them to form a channel space for the push block 560 to slide. Each side edge of the cover plate 550 extends downward to form a mounting foot 551, and each mounting foot 551 has a mounting hole, which can be fitted onto the corresponding quick-release clip 570 to achieve horizontal positioning of the cover plate 550.

[0133] The end of the cover plate 550 near the turntable 7 is bent downwards to form a bent section 552, which is used to stop and limit the rice ball and seaweed combination pushed to the inlet of the work station slot to prevent over-pushing. A clearance hole 553 is opened on the surface of the cover plate 550, which corresponds vertically to the work station slot 73, for the push plate of the feeding and pressing mechanism to pass through. A long strip-shaped waist hole 555 is also opened on the surface of the cover plate 550 along the movement direction of the push block 560, for the external drive connection structure connected to the push block 560 to pass through. Two rollers 554 are also installed at the bent section 552. When the cover plate 550 is in the installed state, the lower edges of the two rollers 554 abut against the surface of the turntable 7, providing support for the end of the cover plate 550, and the rolling contact does not affect the rotation of the turntable.

[0134] (III) Quick-release structure

[0135] The quick-release structure consists of the quick-release latch 570 and the locking lever 571. When the mounting hole is inserted into the quick-release latch 570, the locking lever 571 is pushed downwards to the locked position. Its body at least partially covers the top of the quick-release latch 570 and the area above the mounting hole, thus preventing the mounting hole from dislodging from the quick-release latch 570 and locking the cover plate 550 above the pre-folded guide plate 410. When the locking lever 571 is pushed upwards to the release position, it avoids the area directly above the mounting hole, allowing the mounting hole to be freely pulled out of the quick-release latch 570, and the cover plate 550 can be quickly removed.

[0136] (iv) Push block 560

[0137] The pusher block 560 is a sliding component, placed on the upper surface of the pre-folded edge guide plate 410, and located in the channel between the cover plate 550 and the pre-folded edge guide plate 410. The end of the pusher block 560 facing the rice ball has a triangular notch 561 that matches the shape of the rice ball's side, used for smoothly pushing the rice ball. Multiple guide wheels 562 are horizontally arranged on both sides of the surface of the pre-folded edge guide plate 410, and guide grooves 563 that mate with the guide wheels 562 are opened on both sides of the pusher block 560. When the pusher block 560 slides, the guide grooves 563 on both sides engage with the guide wheels 562, ensuring that the pusher block 560 reciprocates precisely and smoothly along a predetermined trajectory.

[0138] The pusher block 560 is driven by the seventh servo motor. The output shaft of the seventh servo motor is connected to a connecting structure via a lead screw or synchronous belt. This connecting structure passes through the waist hole 555 on the cover plate 550 and is fixedly connected to the pusher block 560, thereby converting the rotational motion of the motor into the horizontal reciprocating motion of the pusher block 560.

[0139] (V) Working Principle

[0140] When the top-loading mechanism 102 lifts the assembly to the triangular hole 411 of the pre-folded edge guide plate 410 and holds it there, the seventh servo motor drives the push block 560 to move forward along the guide wheel 562. The triangular notch 561 of the push block 560 fits against the rear of the rice ball, pushing the assembly horizontally. When the assembly reaches the entrance of the work station slot 73 of the turntable 7, the bent section 552 of the cover plate 550 stops and limits its leading edge, so that the assembly stops precisely at the predetermined position. Then, the push block 560 returns to its original position, waiting for the next work cycle.

[0141] When the equipment needs to be cleaned, the operator manually moves the locking levers 571 on both sides of the pre-folded guide plate 410 from the locked position to the released position, lifts the cover plate 550 upwards, and the mounting feet 551 disengage from the quick-release pins 570, so that the cover plate 550 can be quickly removed, making room for the subsequent removal of the turntable.

[0142] VII. Feeding and clamping mechanism

[0143] Please see Figure 17 The feeding and pressing mechanism 2 is used to precisely press the "rice ball-seaweed" assembly pushed to the inlet of the station slot 73 of the turntable 7 into the interior of the station slot 73. The mechanism includes a sleeve 38, a sliding rod 39, a pressing plate 35, and an elastic element 36.

[0144] Sleeve 38 is a hollow cylinder, and its upper end is vertically fixed to the hanger plate 95 by bolts. The hanger plate 95 is independently driven by the tenth servo motor 611 and can perform vertical lifting and lowering movements under the command of the controller (see Part Two: Drive System).

[0145] The sliding rod 39 is a cylindrical rod that slidably passes through the sleeve 38. The lower end of the sliding rod 39 extends out of the sleeve 38, and the pressing plate 35 is fixed to the lower end of the sliding rod 39. The shape of the pressing plate 35 matches the cross-sectional shape (e.g., triangular) of the work station groove 73 to ensure that the assembly can be pressed completely into the groove without damaging the rice ball or seaweed.

[0146] The elastic element 36 is a stainless steel helical spring, sleeved on the outside of the sliding rod 39. The upper end of the spring abuts against the lower end face of the sleeve 38, and the lower end of the spring abuts against the upper surface of the push plate 35. When the push plate 35 presses down to contact the assembly, the spring is compressed, applying a downward elastic force to the push plate 35, which serves to buffer and adapt to pressure, preventing hard impact from damaging the rice ball.

[0147] A waist-shaped hole 37 is provided on the wall of the sleeve 38. The waist-shaped hole 37 is an elongated through hole, the length of which is parallel to the axis of the sleeve 38. A pin (not labeled in the figure) passes through the waist-shaped hole 37 and is fixed to the sliding rod 39, with both ends of the pin extending outside the waist-shaped hole 37. The engagement of the pin with the waist-shaped hole 37 has a dual function: firstly, when the sliding rod 39 slides up and down inside the sleeve 38, the pin abuts against the hole wall at both ends of the waist-shaped hole 37, thereby limiting the maximum stroke of the sliding rod 39 relative to the sleeve 38 and preventing the sliding rod 39 from dislodging from the sleeve 38; secondly, and more importantly, the engagement of the pin with the waist-shaped hole 37 effectively prevents the sliding rod 39 and the push plate 35 from rotating circumferentially during movement, ensuring that the push plate 35 remains correctly aligned with the triangular work slot 73 on the turntable 7 throughout the entire working cycle, thereby ensuring the accuracy of the pressing action.

[0148] When the tenth servo motor 611 drives the hanger plate 95 to descend, the entire feeding and pressing mechanism 2 descends accordingly. The push plate 35 first contacts the assembly, and then the sliding rod 39 slides upward relative to the sleeve 38, compressing the spring. The push plate 35 uses elastic force to smoothly press the assembly into the work station slot 73. After pressing is completed, the hanger plate 95 rises, and the sliding rod 39 returns to its original position under its own weight and the spring's restoring force.

[0149] 8. Reversible cleaning structure (hot pressing assembly and right side folded edge plate)

[0150] To facilitate daily deep cleaning of the equipment, this invention incorporates a tool-free flipping design for the hot-pressing assembly above the adjacent turntable 7 and the right-side folded edge plate, allowing for quick clearance and vertical removal of the turntable 7. This part of the structure mainly includes a base 500, a guide rod 501, a hot-pressing mounting plate 530, a left-side hot-pressing bracket 406, a right-side hot-pressing bracket 408, a right-side folded edge plate 305, and its hoisting and flipping mechanism.

[0151] (a) Base and guide rod

[0152] Please see Figure 1 At the welding station, a base 500 is provided and fixedly mounted on the frame 1. At least two guide rods 501 extend vertically upwards from both sides of the base 500 surface. The top ends of the guide rods 501 extend upwards and are fixedly connected to a horizontally arranged hoisting fixing plate 502. This hoisting fixing plate 502 serves as the mounting base for the right-side folded edge plate 305 hoisting structure.

[0153] The hot-press mounting plate 530 is horizontally positioned, passes through the guide rod 501, and can slide up and down along the guide rod 501. The guide rod 501 provides precise vertical guidance for the lifting and lowering of the hot-press mounting plate 530.

[0154] (ii) Reversible bracket of hot-pressing assembly

[0155] The hot pressing assembly includes a left hot pressing bracket 406, a right hot pressing bracket 408, a hot pressing mounting plate 530, and a drive mechanism.

[0156] The left hot-press bracket 406 is movably connected to the left side of the hot-press mounting plate 530 via a hinge 531 (e.g., a hinge), and the right hot-press bracket 408 is movably connected to the right side of the hot-press mounting plate 530 via another hinge 531. Each hot-press bracket has a hot-pressing element mounted at its lower end: a left hot-pressing block 407 and a right hot-pressing block 409.

[0157] The left hot press bracket 406 is equipped with a first plum blossom handle 532, and the right hot press bracket 408 is equipped with a second plum blossom handle 533. Under normal working conditions, tightening the plum blossom handle locks the hot press bracket in a vertical working position, ensuring that the hot press block can be accurately pressed down to the notch of the folded plate above the work station slot 73.

[0158] The hot-press mounting plate 530 is driven to move up and down by a fourth servo motor via a linkage mechanism. Specifically, the fourth servo motor 604 is fixedly mounted on the frame 1, and its output shaft is connected to a connecting rod 513 via an eccentric wheel or crank. The other end of the connecting rod 513 is hinged to a horizontally positioned drive plate 514. The back of the drive plate 514 is fixedly connected to a slider 516, which is embedded in a vertical slide rail 515. The drive plate 514 is also fixedly connected to the hot-press mounting plate 530 via at least one drive rod 404. When the fourth servo motor rotates, it drives the drive plate 514 to slide up and down along the vertical slide rail 515 via the linkage mechanism, thereby driving the hot-press mounting plate 530 and the hot-press bracket to reciprocate up and down via the drive rod 404.

[0159] (iii) The flip-up hoisting structure of the right-side folded plate

[0160] The right-side folding plate 305 is a passive folding component, with its folded surface facing the turntable 7. It is used to passively fold the protruding seaweed edge on the right side to the left during the rotation of the turntable. The right-side folding plate 305 is suspended above the turntable 7 by a flip-up lifting structure.

[0161] Specifically, a horizontally arranged hoisting fixing plate 502 is fixedly connected to the top of the guide rod 501. One end of a movable plate 540 is movably connected to the hoisting fixing plate 502 via a hinge shaft 542, allowing the movable plate 540 to rotate upwards around the hinge shaft 542. The back of the right-side folded plate 305 is fixedly connected to the body of the movable plate 540 via two vertically arranged hoisting guide rods 541. Adjusting nuts can be installed on the hoisting guide rods 541 for fine adjustment of the suspension height of the right-side folded plate 305. A third pentagonal handle 543 is provided between the movable plate 540 and the hoisting fixing plate 502.

[0162] During normal operation, tightening the third plum blossom handle 543 locks the movable plate 540 and the hoisting fixing plate 502, and the right folded edge plate 305 is securely positioned at the preset working height above the turntable 7. The right folded edge plate 305 faces the turntable 7, and its lower edge is provided with a guide slope or arc surface, which is used to gradually fold the raised seaweed edge on the right side to the left when the turntable 7 carries the workpiece into the workstation.

[0163] (iv) Working principle

[0164] Normal working status: The left hot press bracket 406 and the right hot press bracket 408 are locked onto the hot press mounting plate 530 by the first plum blossom handle 532 and the second plum blossom handle 533 respectively, maintaining a vertical working position.

[0165] The right-side folded plate 305 is locked below the hoisting fixing plate 502 by the third plum blossom handle 543 to maintain a fixed working height.

[0166] The fourth servo motor 604 drives the hot press mounting plate 530 and the hot press bracket to reciprocate up and down through a linkage mechanism consisting of a connecting rod 513, a drive plate 514, a vertical slide rail 515, and a slider 516. This, in conjunction with the active folding of the left folding plate 303 and the passive folding of the right folding plate 305, completes the hot press welding process.

[0167] Cleaning and avoidance status: When daily deep cleaning is required, operators can proceed without any tools by following these steps: 1. Flip the hot press brackets: Loosen the first and second handles 532 and 533 by hand, releasing the lock on the hinge 531. Flip the left hot press bracket 406 outward (left side) and the right hot press bracket 408 outward (right side), with a flip angle of 90° to 180°. After flipping, the left and right hot press brackets 406 and 408, along with their lower hot press blocks 407 and 409, are completely removed from the area directly above the turntable 7.

[0168] 2. Flip the right-side folded plate: Loosen the third plum blossom handle 543 by hand, and the lock between the movable plate 540 and the hoisting fixing plate 502 is released. Flip the movable plate 540 together with the right-side folded plate 305 upward around the hinge axis 542 (for example, flip it 90° to 180°), so that the right-side folded plate 305 is completely away from the vertical projection area of ​​the turntable 7.

[0169] 3. Removing the turntable: After the above flipping is completed, a completely open space with no mechanical parts obstructing the top of the turntable 7 is formed. The operator can directly loosen the quick-release latch on the central shaft of the turntable 7 and use the pre-drilled handle or handle on the turntable 7 to pull the entire turntable 7 vertically upwards. The fixed base 13 is statically fixed to the frame 1. After the turntable 7 is removed, the upper surface of the fixed base 13 and all areas previously obstructed by the turntable 7, such as the discharge port 14, are completely exposed, allowing for thorough cleaning without any blind spots.

[0170] 4. Reset: After cleaning, put the turntable 7 back vertically, flip the right folded plate 305 downward to the working position and tighten the third plum blossom handle 543, flip the left hot press bracket 406 and the right hot press bracket 408 inward to the vertical position and tighten the first plum blossom handle 532 and the second plum blossom handle 533. The equipment can then be put back into operation.

[0171] IX. Labeling Module

[0172] A labeling module 400 is located downstream of the welding mechanism (right-side folding and hot pressing). This module is used to affix labels containing information such as production date and batch number to the finished rice ball packaging after folding and hot pressing. The labeling module 400 includes an industrial printer, a labeling head, and a quick-release structure.

[0173] Industrial printer: Installed on one side of the labeling station, it connects to the main controller of the machine via a communication interface (such as Ethernet or serial port). The main controller sends the information to be printed (such as the current date, time, batch number, etc.) to the printer in real time, and the printer prints the required content on blank label tape.

[0174] Labeling Head: Employs a servo-driven label-grabbing component, such as a servo motor-driven swing arm or linear module. The labeling head peels the printed label from the backing paper at the printer and affixes it to the designated location on the rice ball packaging (e.g., the side or bottom of the bag). A servo motor is preferred for driving the labeling head to achieve precise position control and timing synchronization with the turntable's cycle. The labeling head communicates with the main controller, which triggers the labeling action when the turntable is stationary based on an electronic cam curve.

[0175] Quick-release structure: The entire labeling module (including the printer and labeling head) is mounted on a sliding base. The sliding base engages with the frame 1 via a horizontal guide rail pair, allowing it to slide back and forth along the guide rail. A manual locking device, such as a swivel handle, is provided between the sliding base and the frame 1. During normal operation, tightening the manual locking device locks the sliding base in the working position, aligning the labeling head with the work slot 73 on the turntable 7. When cleaning the equipment or disassembling the turntable 7 is required, loosening the manual locking device allows the entire labeling module to be pushed backward along the guide rail, freeing up the operating space above the turntable 7 without affecting the vertical removal of the turntable 7. The design concept of this quick-release structure is consistent with the aforementioned flip-up structure of the welding mechanism, both serving the purpose of convenient cleaning and maintenance of the entire machine.

[0176] Since the specific structure of the labeling head (such as the label suction method and peeling method) and the model of the industrial printer can adopt a variety of conventional commercially available products, this embodiment does not further limit its internal details, but only protects the integrated layout of the labeling module 400 in the whole machine and the communication and coordination method with the main controller, especially its quick clearance structure.

[0177] 10. Discharge device

[0178] After all processing (including labeling) is completed, the turntable 7 carries the finished product to the discharge station, at which point the station slot 73 is aligned with the discharge port 14 on the fixed base 13. The discharge device is located at the discharge port 14 and is used to remove the finished rice ball from the station slot 73 and transport it to the next process.

[0179] The discharge device includes a top discharge plate, a lifting drive servo motor (eighth servo motor 608), a pusher plate, a material conveying servo motor (ninth servo motor 609), and an inclined slide.

[0180] Top material ejector plate: Normally located at the bottom of the ejector port 14, its upper surface is flush with or slightly lower than the upper surface of the fixed base 13 to avoid interfering with the rotation of the turntable 7. The top material ejector plate is connected to a vertical linear module, which is driven by an eighth servo motor.

[0181] The lifting drive servo motor (eighth servo motor 608) is fixedly mounted on the frame 1. Its output shaft is connected to a lead screw via a coupling, and the nut seat on the lead screw is fixedly connected to the top material discharge plate. This servo motor communicates with the main controller and is controlled by an electronic cam curve. When the turntable 7 rotates to the discharge position and comes to a stop, the main controller instructs the eighth servo motor to operate, driving the top material discharge plate to rise and push the finished rice ball out of the workstation slot 73 from below, causing the rice ball to detach from the workstation slot 73 and rise above the upper surface of the turntable 7.

[0182] The feeding device, located on one side of the discharge port 14, includes a feeding plate and a feeding servo motor (ninth servo motor). The feeding plate is fixed to the slider of a linear module, which is independently driven by the ninth servo motor. The ninth servo motor is also connected to the main controller. When the top feeding plate pushes the rice ball to a predetermined height, the main controller instructs the ninth servo motor to move, driving the feeding plate to move horizontally and push the rice ball away from the top feeding plate laterally.

[0183] Inclined slide: Located in the discharge direction of the pushing device, it is an inclined chute. Its upper end receives the rice balls pushed out by the pushing plate, and its lower end leads to the collection container or the next process. After the rice balls are pushed into the inclined slide, they slide down to the designated position by their own weight, completing the finished product discharge.

[0184] The discharging device employs a two-stage action of "first lifting, then pushing horizontally," with each stage driven by an independent servo motor. This allows for flexible adjustment of the lifting height and pushing stroke according to different rice ball sizes, making it highly adaptable. Furthermore, this structure is completely independent of the rotational motion of turntable 7, facilitating maintenance and debugging.

[0185] XI. Complete Workflow

[0186] The following is a summary of the complete workflow of the machine. Each action is completed by the controller coordinating the various servo motors according to the electronic cam curve.

[0187] 1. Rice ball feeding and positioning: The second servo motor 602 drives the support seat 4 of the rice ball flipping and pushing mechanism (first rice pushing component) to move backward, and the rice pushing plate 6 flips down from above, pushing the rice ball horizontally onto the top plate 116 of the top feeding mechanism 102. The rice pushing plate 6 resets, waiting for the next rice ball.

[0188] 2. Laver Placement: The dynamic support mechanism 420 of the automatic laver sheet delivery device ensures that there is laver in the working area. The fifth servo motor 605 drives the negative pressure suction cup 33 to pick up a single sheet of laver and pull it down onto the conveyor belt 21. The sixth servo motor 606 drives the conveyor belt 21 to step forward, transporting the laver to the end (laver placement position 114). At this time, the laver is directly above the top plate 116.

[0189] 3. Lifting, merging, and pre-folding: The lifting motor 115 drives the top plate 116 to rise, and the rice ball merges with the seaweed to form a combined body. The top plate 116 continues to rise, lifting the combined body through the triangular hole 411 of the pre-folding guide plate 410. The edge of the seaweed is initially folded towards the side of the rice ball, and the rice ball extends beyond the triangular hole 411.

[0190] 4. Horizontal Pushing of the Assembly: The seventh servo motor 607 drives the pusher block 560 of the second pusher assembly forward, horizontally pushing the lifted assembly to the entrance of the workstation slot 73 of the turntable 7, where it is limited by the bending section 552 of the cover plate 550. The pusher block 560 then retracts.

[0191] 5. Pressing into the work station slot: During the pause when the turntable 7 stops, the tenth servo motor 611 drives the hanging plate 95 to descend. The push plate 35 of the feeding and pressing mechanism 2 passes through the clearance hole 553 of the cover plate 550, and uses elastic force to smoothly press the assembly into the work station slot 73 of the turntable 7. After pressing, the rice ball is located in the slot, and the two sides of the seaweed packaging bag wrapping the rice ball are higher than the top surface of the work station slot 73. The hot press mounting plate 530 rises and resets.

[0192] 6. Left-side folding and hot pressing: The first servo motor 601 drives the turntable 7 to rotate by one index, bringing the workpiece to the left-side folding station and stopping. The third servo motor 603 drives the left-side folding plate 303 to rotate, actively folding the protruding seaweed edge on the left to the right. Simultaneously, the fourth servo motor 604 again drives the hot pressing mounting plate 530 to press down, and the left-side hot pressing block 407 passes through the notch 304 on the left-side folding plate 303 to hot-press and fix the folded edge. The hot pressing mounting plate 530 rises and resets.

[0193] 7. Right-side folding and hot pressing: The first servo motor 601 drives the turntable 7 to continue indexing and rotating to the right-side folding station. During the process of entering the station, the raised seaweed edge on the right side contacts the guide slope of the fixed right-side folding plate 305 and is passively folded to the left. After the turntable 7 stops, the fourth servo motor 604 drives the hot pressing mounting plate 530 to press down, and the right-side hot pressing block 409 passes through the notch 306 on the right-side folding plate 305 to hot-press and fix the right-side fold. The hot pressing mounting plate 530 rises and resets.

[0194] 8. Labeling: The first servo motor 601 drives the turntable 7 to continue rotating to the labeling station and stop. The main controller sends the information to be printed to the industrial printer, and the printer completes the label printing. At the same time, the servo motor of the labeling head actuates, peeling the label from the backing paper and pasting it to the designated position on the finished rice ball packaging. After labeling is completed, the labeling head resets.

[0195] 9. Discharge: The first servo motor 601 drives the turntable 7 to bring the finished product to the discharge station, at which point the station slot 73 is aligned with the discharge port 14 on the fixed base 13. The eighth servo motor 608 drives the top discharge plate to rise, pushing the finished rice ball out of the station slot 73, making the rice ball higher than the upper surface of the turntable 7. Subsequently, the ninth servo motor 609 drives the pusher plate to move laterally, pushing the rice ball from the top discharge plate into the inclined slide, where the rice ball slides down to the collection container by its own weight. The top discharge plate descends and resets, and the pusher plate retracts.

[0196] In all the above steps, the movement of all servo motors is synchronously controlled by the controller according to a preset electronic cam curve, ensuring that the actuator lifts when the turntable 7 rotates and moves when the turntable 7 is stationary. Operators can adjust the timing parameters online through the human-machine interface to optimize the production cycle or adapt to different product specifications.

[0197] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the invention should fall within the protection scope defined by the claims of the present invention.

[0198] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An automatic rice ball packaging machine, comprising a frame and a turntable disposed on the frame, the turntable being provided with a plurality of workstation slots for holding materials, characterized in that, Also includes: Multiple servo drive devices are used to drive the turntable and at least one actuator, respectively. An electronic control system is communicatively connected to the plurality of servo drive devices. The electronic control system is configured to control the motion timing of each servo drive device via an electronic cam, so that the turntable rotates intermittently. When the turntable rotates, the actuator is in a first position, and when the turntable is stationary, the actuator is in a second position to perform a packaging action.

2. The automatic rice ball packaging machine according to claim 1, characterized in that, It also includes an automatic purple menu sheet delivery device, the automatic purple menu sheet delivery device comprising: The hopper unit has a conical discharge port at its bottom; A negative pressure adsorption material collection unit is located below the hopper unit and is used to adsorb seaweed sheets one by one from the conical discharge port and remove them downwards; A conveying unit is located below the negative pressure adsorption and material handling unit, used to receive the extracted laver and transport it to the laver placement position; The dynamic support mechanism includes a rotatable support plate that can be screwed into the hopper unit to divide the seaweed pile into an upper storage area and a lower working area located above the conical discharge port, and can be screwed out to release the seaweed from the storage area into the working area; when the support plate is screwed in, its lower surface maintains a preset fixed vertical distance from the conical discharge port.

3. The automatic rice ball packaging machine according to claim 1, characterized in that, It also includes a rice ball flipping and pushing mechanism, which includes: Horizontal guide rail; A support seat that can reciprocate along the horizontal guide rail; A rotating component is rotatably mounted on the support base, and a rice pusher is fixedly mounted on the rotating component; A trajectory control plate is fixed on the frame, and a guide groove is provided on the trajectory control plate. A guide roller is provided on the rotating component and embedded in the guide groove. And a second servo motor for driving the reciprocating movement of the support; When the support seat reciprocates, the guide roller rolls along the guide groove, forcing the rotating component to rotate, thereby driving the rice pusher to switch between an inclined standby posture above the rice ball and a pushing posture behind the rice ball.

4. The automatic rice ball packaging machine according to claim 1, characterized in that, At least one functional component located above the turntable is connected to the support member via a movable connection structure and is equipped with a manual locking element; when the manual locking element is released, the functional component can be moved from the working position to the cleaning avoidance position by flipping, in which the functional component leaves the vertical projection area of ​​the turntable, so as to allow the turntable to be removed in the vertical direction.

5. The automatic rice ball packaging machine according to claim 4, characterized in that, The functional component includes a hot pressing assembly, which includes a left hot pressing bracket and a right hot pressing bracket. The left hot pressing bracket and the right hot pressing bracket are movably connected to the left and right sides of the hot pressing mounting plate through hinges, and are respectively equipped with a first plum blossom handle and a second plum blossom handle.

6. The automatic rice ball packaging machine according to claim 4, characterized in that, The functional component includes a right-side folded edge plate, which is suspended from the hoisting fixing plate by a movable plate and a hinge shaft, and is equipped with a third plum blossom handle.

7. The automatic rice ball packaging machine according to claim 1, characterized in that, It also includes a second rice-pushing component, the second rice-pushing component comprising: Pre-folded edge guide plate fixed to the frame; A cover plate that is detachably installed above the pre-folded edge guide plate; A push block that is slidably disposed between the pre-folded edge guide plate and the cover plate; The cover plate and the pre-folded edge guide plate are connected by a tool-free quick-release structure. The tool-free quick-release structure includes a quick-release pin protruding from the surface of the pre-folded edge guide plate and a locking lever movably mounted on the quick-release pin. The edge of the cover plate is provided with mounting feet that can be sleeved on the quick-release pin.

8. The automatic rice ball packaging machine according to claim 1, characterized in that, It also includes a feeding and clamping mechanism, the feeding and clamping mechanism comprising: Hanging panel; Sleeve fixed to the hanger plate; A sliding rod that can be slidably inserted into the sleeve; A push plate fixed to the lower end of the sliding rod; And an elastic element sleeved on the outside of the sliding rod; The sleeve has a waist-shaped hole on its wall. A pin passes through the waist-shaped hole and is fixed to the sliding rod. The pin cooperates with the waist-shaped hole to limit the sliding stroke of the sliding rod and prevent it from rotating circumferentially.

9. The automatic rice ball packaging machine according to claim 3, characterized in that, The guide groove includes an inclined driving section and a horizontal holding section connected end to end. The extension direction of the inclined driving section forms an angle with the horizontal guide rail, and the extension direction of the horizontal holding section is parallel to the horizontal guide rail.

10. The automatic rice ball packaging machine according to claim 2, characterized in that, The dynamic support mechanism further includes a drive assembly, which includes a motor, a lead screw driven by the motor, a slider mounted on the lead screw, and a connecting rod. One end of the connecting rod is hinged to the slider, and the other end is hinged to the drive arm on the support plate.

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