Stretching film vacuum packaging machine with parallel robot for placing materials

Abstract

The utility model relates to the technical field of food packaging equipment, in particular to a stretching film vacuum packaging machine with parallel robots for placing materials, which comprises a conveying mechanism for conveying film materials, and a lower film unwinding mechanism, a forming mechanism, an upper film unwinding mechanism, a vacuum sealing mechanism, a cutting mechanism and a winding mechanism which are sequentially connected and cooperatively work are arranged on the conveying mechanism. A material placing mechanism is arranged between the forming mechanism and the upper film unwinding mechanism and comprises a conveying belt used for supplying products, a machine frame with the height capable of being adjusted is arranged at the bottom of the conveying belt, and the feeding path of the conveying belt is perpendicular to the film feeding direction of the conveying mechanism. A visual positioning recognition module and a grabbing robot are sequentially arranged on a feeding path of the conveying belt, a pneumatic material control piece used for placing materials is arranged at the operation end of the grabbing robot, and the pneumatic material control piece is connected with a multi-shaft linkage type transmission structure. The utility model is favorable for solving the problems that the time and the labor are wasted and the packaging quality consistency is influenced by manual emptying at present.

Description

Technical Field

[0001] The utility model relates to the technical field of food packaging equipment, in particular to a stretch film vacuum packaging machine with a parallel robot for placing materials. Background Art

[0002] In the process of food packaging, in order to make the food last longer, vacuum packaging is often used, so a vacuum packaging machine will be applied to quickly and effectively vacuum package the food.

[0003] Chinese Patent CN201510604405.0 discloses a full-automatic continuous stretch vacuum and modified atmosphere packaging machine, which includes a frame body and a film conveying device, a food placement workbench, a vacuum sealing device and a cutting device sequentially distributed on the frame body. A forming device is arranged between the film conveying device and the food placement workbench. When the film conveying device conveys the lower film to the forming device, the forming device forms a plurality of packaging receiving grooves for placing single food items in the lower film.

[0004] The applicant of this case found in actual research that when using a packaging machine with the same or similar technical solution as the above patent, in order to ensure accurate product packaging, manual feeding one by one is required. That is to say, before the upper film and the lower film are combined, the products need to be manually placed into the packaging receiving grooves one by one. For operators, this method requires matching the running speed of the equipment, resulting in a relatively high labor intensity. Working for a long time is likely to cause fatigue, resulting in non-standard feeding and affecting the consistency of product packaging quality. Summary of the Utility Model

[0005] The utility model provides a stretch film vacuum packaging machine with a parallel robot for placing materials, which is beneficial to solving the problems of time-consuming and laborious manual feeding and affecting the consistency of packaging quality at present.

[0006] The utility model is realized as follows:

[0007] A stretch film vacuum packaging machine for parallel robot material placement, comprising a conveying mechanism for conveying film materials. On the conveying mechanism, there are successively connected and cooperating a lower film unwinding mechanism, a forming mechanism, an upper film unwinding mechanism, a vacuum sealing mechanism, a cutting mechanism, and a winding mechanism. A material placement mechanism is arranged between the forming mechanism and the upper film unwinding mechanism. The material placement mechanism includes a conveyor belt for supplying products. A frame with adjustable height is arranged at the bottom of the conveyor belt. The feeding path of the conveyor belt is perpendicular to the film feeding direction of the conveying mechanism. A visual positioning and recognition module and a grasping robot are successively arranged on the feeding path of the conveyor belt. The working end of the grasping robot is provided with a pneumatic material control part for material placement. The pneumatic material control part is connected with a multi-axis linkage transmission structure, and can accurately place the products on the conveyor belt to the threshold position on the conveying mechanism by means of the position information obtained by the visual positioning and recognition module.

[0008] On the basis of the above technical solution, the material placement mechanism includes a first frame and a second frame that are detachably connected. The grasping robot is arranged on the first frame, and the conveyor belt and the visual positioning and recognition module are arranged on the second frame.

[0009] On the basis of the above technical solution, the first frame includes a plurality of upright columns arranged at vertical intervals. A chassis is jointly erected on the tops of the upright columns. The fixed end of the grasping robot is installed on the chassis.

[0010] On the basis of the above technical solution, the fixed end of the grasping robot is located at the top, the pneumatic material control part is arranged at the bottom of the grasping robot, and a working space is arranged below the pneumatic material control part on the first frame. The feeding path of the conveyor belt and the film feeding path of the conveying mechanism cross through this working space.

[0011] On the basis of the above technical solution, a connecting block is arranged between the second frame and the first frame. The connecting block is connected with the first frame by bolts. An articulated shaft with a horizontal central axis is arranged between the connecting block and the second frame. Adjustable feet with adjustable height are arranged at the bottom of the second frame.

[0012] On the basis of the above technical solution, the visual positioning and recognition module includes a light box and a CCD vision mechanism that are connected to each other.

[0013] On the basis of the above technical solution, a height adjustment structure is arranged between the visual positioning and recognition module and the second frame support.

[0014] On the basis of the above technical solution, the height adjustment structure includes a plurality of mounting holes arranged at longitudinal intervals on the light box. After the mounting holes are matched with bolts, they are connected to the second frame.

[0015] Compared with the prior art, the present utility model has at least the following advantages:

[0016] The utility model sets a grasping robot on the elevated first rack, utilizes the working space formed below the first rack for arranging a conveyor belt, and configures a corresponding visual positioning and recognition module. The overall structure is compact and ingenious, and can meet the use in various workshop environments. The products conveyed by the conveyor belt can obtain the product attitude information through the visual positioning and recognition module, and after generating corresponding instructions, the grasping robot performs operations to complete the product placement, replacing the traditional manual operation method. The utility model can greatly improve the packaging placement efficiency and reduce the labor intensity of operators. Compared with some existing relatively simple material guiding structures, the utility model can greatly improve the placement quality to meet the increasingly strict food production and packaging requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic three-dimensional structure diagram of a stretch film vacuum packaging machine with a parallel robot for placing materials in an embodiment;

[0019] Figure 2 is Figure 1 the side view of;

[0020] Figure 3 is Figure 1 the side view of the material placement mechanism in;

[0021] Figure 4 is Figure 3 the schematic three-dimensional structure diagram of the material placement mechanism in;

[0022] Figure 5 is Figure 4 the partial enlarged view of A in;

[0023] Figure 6 is Figure 4 the partial enlarged view of B in.

[0024] In the figure, the markings are: a1, conveying mechanism; a2, lower film unwinding mechanism; a3, forming mechanism; a4, upper film unwinding mechanism; a5, vacuum sealing mechanism; a6, cutting mechanism; a7, winding mechanism; b, material placement mechanism; 1, first rack; 11, chassis; 2, second rack; 3, conveyor belt; 4, visual positioning and recognition module; 5, grasping robot; 6, mounting hole; 7, connecting block; 71, hinge shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model. Therefore, the following detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the present utility model to be protected, but merely represents the selected embodiments of the present utility model.

[0026] In the description of the present utility model, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality of" means two or more, unless otherwise specifically defined.

[0027] It should be noted that when an element is referred to as being "fixedly provided on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to an element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only embodiments.

[0028] The following further details the present utility model with reference to the accompanying drawings and specific embodiments.

[0029] Combined with Figures 1-6, this embodiment discloses a stretch film vacuum packaging machine for placing materials by a parallel robot, which includes a conveying mechanism a1 for conveying film materials. On the conveying mechanism a1, there are successively connected and cooperated lower film unwinding mechanism a2, forming mechanism a3, upper film unwinding mechanism a4, vacuum sealing mechanism a5, cutting mechanism a6, and winding mechanism a7. A material placing mechanism b is arranged between the forming mechanism a3 and the upper film unwinding mechanism a4. During operation, the conveying mechanism a1 clamps the left and right ends of the film material (the front section is the lower film, and the rear section is the upper and lower film composite film material) and conveys it step by step linearly. The lower film unwinding mechanism a2 is located at the front end of the conveying mechanism a1 to supply the lower film. The forming mechanism a3 is used to perform negative pressure adsorption forming on the lower film to obtain a number of product accommodation cavities. The material placing mechanism b uses a mechanical structure to place products into the product accommodation cavities according to the threshold requirements. The upper film unwinding mechanism a4 stably supplies the upper film. The vacuum sealing mechanism a5 vacuums and composites the upper film and the lower film. The cutting mechanism a6 cuts the vacuum-composited packaging to obtain the final products in a separated state. The winding mechanism a7 recovers the cutting waste. The above-mentioned conveying mechanism a1, lower film unwinding mechanism a2, forming mechanism a3, upper film unwinding mechanism a4, vacuum sealing mechanism a5, cutting mechanism a6, and winding mechanism a7 are all prior arts. Their specific structures and working principles can refer to the relevant contents in the prior arts disclosed in patents such as CN201510604405.0, CN201310271399.2, CN202223604742.4, etc., and will not be elaborated here. Those skilled in the art can select and implement from the prior arts according to the actual operation situation.

[0030] In this embodiment, the material placing mechanism b includes a conveyor belt 3 for supplying products. A frame with adjustable height is arranged at the bottom of the conveyor belt 3. The feeding path of the conveyor belt 3 is perpendicular to the film feeding direction of the conveying mechanism a1. A visual positioning and recognition module 4 and a grasping robot 5 are successively arranged on the feeding path of the conveyor belt 3. An air-operated material control part for placing materials is arranged at the working end of the grasping robot 5. The air-operated material control part is connected with a multi-axis linkage transmission structure, and can accurately place the products on the conveyor belt 3 to the threshold position on the conveying mechanism a1 by means of the position information obtained by the visual positioning and recognition module 4.

[0031] In this embodiment, a grasping robot is arranged on the elevated first rack, and the working space formed under the first rack is used to arrange a conveyor belt, and a corresponding visual positioning and recognition module is configured. The overall structure is compact and ingenious, and it can meet the use requirements of various workshop environments. The products conveyed by the conveyor belt can obtain the posture information of the products through the visual positioning and recognition module, and after generating corresponding instructions, the grasping robot implements the operation to complete the material placement of the products, replacing the traditional manual operation method. This can greatly improve the packaging and material placement efficiency and reduce the labor intensity of the operators. Compared with some relatively simple material guiding structures in the prior art, it can greatly improve the material placement quality to meet the increasingly strict food production and packaging requirements.

[0032] Specifically, the material placement mechanism b includes a first rack 1 and a second rack 2 that are detachably connected. The grasping robot 5 is arranged on the first rack 1, and the conveyor belt 3 and the visual positioning and recognition module 4 are arranged on the second rack 2.

[0033] Among them, combined with Figure 3 and Figure 4 , the first rack 1 includes a number of upright columns arranged at intervals vertically. A chassis 11 is erected on the tops of the upright columns together. The fixed end of the grasping robot 5 is installed on the chassis 11. In this embodiment, the first rack 1 has 4 upright columns made of galvanized iron profiles. The upright columns are spaced from each other to form a rectangular fulcrum contour, and the bottom is connected to the ground. The tops cooperate with each other, and a chassis 11 in the form of a box structure is added horizontally. The chassis 11 is in the form of a box structure, and its side is provided with heat dissipation holes and an opening and closing panel.

[0034] The fixed end of the grasping robot 5 is located at the top, and the pneumatic material control part is arranged at the bottom of the grasping robot 5. The grasping robot 5 specifically adopts a parallel manipulator, which is a prior art. Its specific structure and working principle can refer to the relevant content in Patent 201520287247.6, and will not be elaborated here. Those skilled in the art can select and implement from the prior art according to the actual operation situation.

[0035] The pneumatic material control part on the first rack 1 adopts a pneumatic suction cup, and uses negative pressure control to realize the stable adsorption of the products, helping to complete the material placement operation. There is a working space below the pneumatic material control part, and the feeding path of the conveyor belt 3 and the film feeding path of the conveying mechanism a1 cross through this working space.

[0036] In order to meet the production requirements of various products with different thicknesses and accurately adapt to the material placement working space of the grasping robot 5, the installation height of the conveyor belt 3 needs to be in a better position. For this reason, as Figure 6As shown, a connecting block 7 is provided between the second frame 2 and the first frame 1. The connecting block 7 is bolted to the first frame 1, and a hinge shaft 71 with a horizontally arranged central axis is provided between the connecting block 7 and the second frame 2; adjustable feet with adjustable height are provided at the bottom of the second frame 2.

[0037] Furthermore, the connecting block 7 is of an "L" - shaped structure. During installation, the connecting block 7 abuts against the inner corner of the column of the second frame 2 and is locked and fixed to the cross - beam between the columns of the first frame 1 by bolts. This enables the conveyor belt 3 and the visual positioning and recognition module 4 to be precisely matched with the first frame 1 after assembly. Additionally, due to the provision of the hinge shaft 71, the connection position can swing at an adaptable angle during the lifting and lowering of the second frame 2, meeting the connection requirements before and after the fine - tuning operation of the height of the conveyor belt 3.

[0038] The visual positioning and recognition module 4 includes a light box and a CCD vision mechanism which are connected to each other. This is prior art, and its specific structure and working principle will not be elaborated here. Those skilled in the art can select and implement from the prior art according to the actual operation situation. It should be noted that a height - adjusting structure is provided between the visual positioning and recognition module 4 and the bracket of the second frame 2. Figure 5 As shown, the height - adjusting structure includes a plurality of mounting holes 6 which are longitudinally and spacedly distributed on the light box. The mounting holes 6 are connected to the second frame 2 after being matched with bolts.

[0039] During actual use, the light box is fixedly arranged above the second frame 2 through a bracket. Among them, the light box serves as the bearing structure of the visual positioning and recognition module 4. A plurality of mounting holes 6 are provided on its side wall. The mounting holes 6 are used to cooperate with bolts to realize the installation and fixation of the light box. The plurality of mounting holes 6 constitute a flexible longitudinal position installation selection structure, and the installation height of the light box can be appropriately adjusted according to actual requirements.

[0040] The feeding path of the conveyor belt 3 successively passes through the detection area of the visual positioning and recognition module 4 and the operation area of the grasping operation end. The visual positioning and recognition module 4 and the grasping robot 5 are electrically connected through a control system.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A stretch film vacuum packaging machine for placing materials by a parallel robot, comprising a conveying mechanism (a1) for conveying a film material, on which a lower film unwinding mechanism (a2), a forming mechanism (a3), an upper film unwinding mechanism (a4), a vacuum sealing mechanism (a5), a cutting mechanism (a6), and a winding mechanism (a7) are successively connected and cooperate with each other. It is characterized in that, A material placing mechanism (b) is provided between the shaping mechanism (a3) and the upper film unwinding mechanism (a4). The material placing mechanism (b) includes a conveyor belt (3) for supplying products. A frame with adjustable height is provided at the bottom of the conveyor belt (3). The feeding path of the conveyor belt (3) is perpendicular to the film feeding direction of the conveying mechanism (a1). A visual positioning and recognition module (4) and a grasping robot (5) are successively arranged on the feeding path of the conveyor belt (3). An air-operated material control part for material placing is provided at the working end of the grasping robot (5). The air-operated material control part is connected with a multi-axis linkage transmission structure and can accurately place the products on the conveyor belt (3) at the threshold position on the conveying mechanism (a1) by means of the position information obtained by the visual positioning and recognition module (4).

2. The stretch film vacuum packaging machine for parallel robot blanking according to claim 1, characterized in that, The material placing mechanism (b) includes a first frame (1) and a second frame (2) which are detachably connected. The grasping robot (5) is arranged on the first frame (1), and the conveyor belt (3) and the visual positioning and recognition module (4) are arranged on the second frame (2).

3. The stretch film vacuum packaging machine for parallel robot blanking according to claim 2, characterized in that, The first frame (1) includes several vertically spaced columns, and a chassis (11) is jointly erected at the tops of the columns. The fixed end of the grasping robot (5) is installed on the chassis (11).

4. A stretch film vacuum packaging machine for placing materials of a parallel robot according to claim 3, characterized in that, The fixed end of the grasping robot (5) is located at the top, and the air-operated material control part is arranged at the bottom of the grasping robot (5). A working space is provided below the air-operated material control part of the first frame (1). The feeding path of the conveyor belt (3) and the film feeding path of the conveying mechanism (a1) cross through this working space.

5. A stretch film vacuum packaging machine for placing materials by a parallel robot according to claim 2, characterized in that, A connecting block (7) is provided between the second frame (2) and the first frame (1). The connecting block (7) is bolted to the first frame (1). An articulated shaft (71) with a horizontally arranged central axis is provided between the connecting block (7) and the second frame (2). Adjustable feet with adjustable height are provided at the bottom of the second frame (2).

6. A stretch film vacuum packaging machine for placing materials of a parallel robot, according to claim 5, characterized in that The visual positioning and recognition module (4) includes a light box and a CCD vision mechanism which are connected to each other.

7. A stretch film vacuum packaging machine for parallel robot blanking according to claim 6, characterized in that, A height adjustment structure is provided between the visual positioning and recognition module (4) and the second frame (2) bracket.

8. A stretch film vacuum packaging machine for placing materials by a parallel robot according to claim 7, characterized in that The height adjustment structure includes several longitudinally spaced mounting holes (6) provided on the light box. After the mounting holes (6) are matched with bolts, they are connected to the second frame (2).

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