Fork and spoon packaging equipment

Abstract

The utility model belongs to the technical field of automatic production, and particularly relates to fork and spoon packaging equipment. The fork and spoon packaging equipment comprises a supporting frame body, a conveying device, a movable clamping jaw and a fork and spoon frame. A protection cavity is formed in the supporting frame, and a passageway penetrating in the Y direction is arranged at the bottom of the supporting frame and communicates with the protection cavity. The conveying device penetrates through the passageway in the Y direction and is used for conveying the container trays. The movable clamping jaw is arranged in the protection cavity and located above the conveying device. The fork and spoon frame is connected to one side of the supporting frame in the X direction and located in the protection cavity, and the fork and spoon frame is used for containing a fork and a spoon. The movable clamping jaw is arranged to be capable of clamping the fork and the spoon on the fork and spoon frame and movably placing the fork and the spoon in the container in the container tray. By means of the equipment, automatic fork and spoon placement is achieved, the low efficiency and high cost caused by manual fork and spoon packaging are avoided, and the risks of missing placement and misplacement are reduced.

Description

Technical Field

[0001] The present application belongs to the field of automated production technology, and in particular relates to a fork and spoon packaging device. Background Art

[0002] In today's milk powder production field, with the continuous growth of market demand, production efficiency and cost control have become the focus of enterprises. In the milk powder packaging process, the traditional operation of placing the fork and spoon in the milk powder box usually relies on manual work. However, there are many problems with manual placement of the fork and spoon.

[0003] First, the speed of manual operation is limited, which makes it difficult to meet the high-efficiency needs of large-scale production. In a fast-paced production line, the efficiency of manual placement of forks and spoons often becomes a bottleneck in the entire production process, limiting further increases in output. Secondly, the accuracy and stability of manual operation are difficult to guarantee. Long-term repetitive labor can easily lead to worker fatigue, resulting in the omission or misplacement of forks and spoons, affecting the integrity and quality of the product. Furthermore, continuous manual input means higher labor costs. As labor costs continue to rise, companies' expenditures in this area are increasing, which has caused a certain compression in the company's profit margins. Utility Model Content

[0004] The present application provides a fork and spoon packaging device to solve the technical problems of low efficiency, high cost, and easy omission and misplacement of forks and spoons caused by existing manual packaging.

[0005] The present application provides a spork packaging device comprising a support frame, a conveyor, a movable clamp, and a spork rack. The support frame comprises a protective cavity, and a Y-axis aisle extending through the bottom of the support frame, the aisle communicating with the protective cavity. The conveyor extends through the aisle along the Y axis and is used to transport container pallets. The movable clamp is disposed within the protective cavity and above the conveyor. The spork rack is connected to one side of the support frame in the X axis and is located within the protective cavity. The spork rack is used to hold the spork. The movable clamp is configured to grasp a spork from the spork rack and move it to a container on the container pallet.

[0006] In an optional solution of the present application, the movable clamp includes a multi-axis movable module and a clamp mechanism; the clamp mechanism is connected to the multi-axis movable module, and the multi-axis movable module can drive the clamp mechanism to move in the horizontal direction.

[0007] In an optional solution of the present application, the multi-axis moving module includes an X-axis linear module and a Y-axis linear module; the X-axis linear module is connected to the support frame, and the Y-axis linear module is located below the X-axis linear module and connected to the X-axis linear module and the support frame; the clamping mechanism is connected to the Y-axis linear module and moves along the X-axis and / or Y-axis under the drive of the X-axis linear module and the Y-axis linear module.

[0008] In an optional solution of the present application, the X-axis linear module includes an X-axis screw, an X-axis moving block and an X-axis drive unit; the X-axis drive unit is arranged in the support frame and is located outside the protective cavity; one end of the X-axis moving block is slidingly connected to the support frame, and the other end of the Y direction is connected to the X-axis screw; one end of the X-axis screw is rotatably connected to the support frame, and the other end passes through the support frame and is connected to the X-axis drive unit; wherein, the X-axis drive unit can drive the X-axis screw to rotate and make the X-axis moving block move along the X-axis screw.

[0009] In an optional solution of the present application, the Y-axis linear module includes a Y-axis screw, a Y-axis moving block, a Y-axis drive unit and an X-axis guide block; X-axis guide blocks are provided at both ends of the Y-axis screw and are slidingly connected to the support frame through the X-axis guide blocks at both ends; the Y-axis moving block is movably connected to the X-axis moving block and the Y-axis screw, and the clamping mechanism is connected to the Y-axis moving block; the Y-axis drive unit is arranged on at least one of the X-axis guide blocks at both ends and is connected to the Y-axis screw, and the Y-axis drive unit is located outside the protective cavity and is used to drive the Y-axis screw to rotate, so that the Y-axis moving block drives the clamping mechanism to move together.

[0010] In an optional solution of the present application, the X-direction moving block is provided with a Y-direction guide groove, which is located at the bottom of the X-direction moving block; the top of the Y-direction moving block is located at the Y-direction guide groove and can move along the Y-direction guide groove.

[0011] In an optional solution of the present application, the support frame is provided with X-direction guide holes; the X-direction guide holes are located on both sides of the Y-direction of the support frame, and the X-direction guide blocks at both ends correspond to the X-direction guide holes on both sides and can move along the X-direction guide holes.

[0012] In an optional solution of the present application, the support frame includes a plurality of guide rods; at least one guide rod is provided on the two Z-direction inner walls of the X-direction guide hole, and the X-direction guide block is slidably connected to the guide rod.

[0013] In an optional solution of the present application, the clamping mechanism includes a lifting device and a clamping claw; the lifting device is connected to the multi-axis moving module, and the clamping claw is connected to the lifting device and is lifted and lowered under the drive of the lifting device.

[0014] In an optional solution of the present application, a control module is also included, which includes a control unit, an image acquisition unit and multiple photoelectric sensors; the multiple photoelectric sensors are arranged at the location of the aisle and are used to confirm the position information of the container tray, and the image acquisition unit is arranged on the mobile clamp and is used to collect fork and spoon placement image information; the control unit is arranged on the support frame and is connected to the mobile clamp, the image acquisition unit and the multiple photoelectric sensors, and the control unit is configured to control the operation of the mobile clamp according to the information sent by the image acquisition unit and the photoelectric sensor.

[0015] In summary, the fork and spoon packaging device provided by this application has at least the following beneficial effects:

[0016] In the spork packaging device provided in this application, a container tray containing multiple containers is transported via a conveyor device through a passageway into a support frame, i.e., a protective cavity. The sporks on the spork rack are then placed into the containers on the container tray by moving the clamping claws.

[0017] The equipment realizes the automation of fork and spoon placement, reduces dependence on manual labor, eliminates the need for a large amount of manpower to place forks and spoons, saves labor costs, avoids low efficiency and high costs caused by manual packing of forks and spoons, and reduces the risk of missing or misplacing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the specific embodiments of this application or the technical solutions in the prior art, the following briefly introduces the drawings required for the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0019] Figure 1 A schematic diagram of a fork and spoon packaging device provided according to one embodiment of the present application;

[0020] Figure 2 for Figure 1 A cross-sectional view of the fork and spoon packaging device in another perspective;

[0021] Figure 3 for Figure 1 A cross-sectional view of the fork and spoon packaging device from another perspective;

[0022] Figure 4 for Figure 1 A schematic diagram of the fork and spoon packaging equipment from another perspective;

[0023] Figure 5 for Figure 3 A partial enlarged view of point A in the middle;

[0024] Figure 6 This is a connection block diagram of a control module provided according to one embodiment of the present application.

[0025] The reference numerals are as follows:

[0026] 10. Support frame; 11. Guide rod; 12. Protective cover; 13. Mounting seat; 14. Cover top plate; R, Protective cavity; D, Aisle; C1, X-direction guide groove; C2, Y-direction guide groove; H1, X-direction guide hole; P, Feed port;

[0027] 20. Conveying device;

[0028] 30. Move the gripper;

[0029] 31. Multi-axis moving module;

[0030] 311, X-axis linear module; 3111, X-axis screw; 3112, X-axis moving block; 3113, X-axis drive unit; 3114, first nut;

[0031] 312, Y-axis linear module; 3121, Y-axis lead screw; 3122, Y-axis moving block; 3123, Y-axis drive unit; 3124, X-axis guide block; 3125, second nut;

[0032] 32. Clamping mechanism; 321. Lifting device; 322. Clamping claw;

[0033] 40. Fork and spoon rack; 41. Spoon plate; 42. Partition;

[0034] 50. Control module; 51. Control unit; 52. Image acquisition unit; 53. Photoelectric sensor;

[0035] 60. Container tray; 61. Container;

[0036] 70. Fork and spoon. DETAILED DESCRIPTION

[0037] In this application, unless otherwise specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integration; mechanical connections, electrical connections, direct connections, or indirect connections through an intermediary; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0038] In the description of this specification, if the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0039] In the description of this application, the "X direction", "Y direction" and "Z direction" mentioned are judged based on the rectangular coordinate system constructed by the fork and spoon packaging equipment provided in this application, where the X direction and the Y direction are horizontal directions, and the Z direction is the vertical direction, which is also the up and down direction and the lifting direction, and the three are perpendicular to each other.

[0040] Figure 1 This is a schematic diagram of a fork and spoon packaging device provided according to one embodiment of the present application. Figure 2 for Figure 1 A cross-sectional view of the fork and spoon packaging equipment from another perspective. Figure 3 for Figure 1 A cross-sectional view of the fork and spoon packaging device from another perspective.

[0041] See also Figures 1 to 3 In some optional embodiments, the fork and spoon packaging device includes a supporting frame 10 , a conveying device 20 , a movable clamp 30 and a fork and spoon rack 40 .

[0042] A protective cavity R is formed within the support frame 10, and a passage D extending along the Y direction through the bottom thereof is provided, connecting the passage D to the protective cavity R. A conveyor 20 extends through the passage D along the Y direction and is used to transport a container pallet 60. A movable gripper 30 is disposed within the protective cavity R and above the conveyor 20. A spork holder 40 is attached to one side of the support frame 10 along the X direction and is located within the protective cavity R. The spork holder 40 is used to accommodate sporks 70.

[0043] The movable clamping claw 30 is configured to clamp the fork and spoon 70 at the fork and spoon rack 40 and move the fork and spoon 70 to be placed in the container 61 on the container tray 60 .

[0044] In this embodiment, the support frame 10 is the primary load-bearing component of the fork and spoon packaging device. It serves as the basic structure of the fork and spoon packaging device and provides a mounting and support platform for the other components of the fork and spoon packaging device. Specifically, the support frame 10 has a protective cavity R within it and a passage D formed at its bottom, communicating with the protective cavity R. The passage D extends through the support frame 10 along the Y direction.

[0045] In a specific application, the support frame 10 can be assembled from profiles, sheet metal covers, etc. In the illustrated embodiment, the support frame 10 is substantially in the shape of a rectangle, but is certainly not limited thereto.

[0046] The conveying device 20 is arranged at the aisle D and passes through the aisle D, that is, the conveying device 20 is extended along the Y direction and is used to transport the container pallet 60, that is, the container pallet 60 can enter the supporting frame 10 along the Y direction through the conveying device 20.

[0047] In a specific application, the conveying device 20 can be a conveyor belt, a conveyor roller, etc. The container tray 60 is used to hold a container 61, such as a packaging box, etc. The container 61 here can be, for example, a milk powder can, or a can-shaped structure for holding other products.

[0048] The movable clamp 30 and the fork and spoon rack 40 are both located in the protective cavity R. The fork and spoon rack 40 is used to place the fork and spoon 70 and is located on the X side of the support frame 10. The movable clamp 30 has multiple degrees of freedom of movement in multiple directions and a grasping function. Therefore, while ensuring that the movable clamp 30 has a sufficient range of movement, it can clamp the fork and spoon 70 on the fork and spoon rack 40 and move the fork and spoon 70 to be placed in the container 61 in the container tray 60.

[0049] As can be seen from the above, the container tray 60 containing multiple containers 61 is transported by the conveyor 20 through the aisle D into the support frame 10, i.e., the protective chamber R. The moving gripper 30 then places the sporks from the spork rack 40 into the respective containers 61 on the container tray 60. This automated placement of sporks avoids the inefficiency and high cost of manual spork packing, and reduces the risk of omission or misplacement.

[0050] See also Figure 2 In a further optional embodiment, the movable clamp 30 includes a multi-axis movable module 31 and a clamp mechanism 32. The clamp mechanism 32 is connected to the multi-axis movable module 31, and the multi-axis movable module 31 can drive the clamp mechanism 32 to move in the horizontal direction.

[0051] In this embodiment, the multi-axis movable module 31 provides horizontal movement freedom, and the clamping mechanism 32 provides a clamping function. Thus, the clamping mechanism 32 can move in the horizontal direction under the drive of the multi-axis movable module 31, thereby having the functions of clamping, carrying and placing the fork 70.

[0052] In a further optional embodiment, the multi-axis moving module 31 includes an X-axis linear module 311 and a Y-axis linear module 312. The X-axis linear module 311 is connected to the support frame 10, and the Y-axis linear module 312 is located below the X-axis linear module 311 and connected to the X-axis linear module 311 and the support frame 10.

[0053] The clamping mechanism 32 is connected to the Y-direction linear module 312 and moves along the X-direction and / or Y-direction under the drive of the X-direction linear module 311 and the Y-direction linear module 312 .

[0054] In this embodiment, the multi-axis movement module 31 is composed of two vertically arranged linear modules, each of which can provide a single degree of freedom of movement in a single direction. The two linear modules are respectively an X-axis linear module 311 and a Y-axis linear module 312 .

[0055] The X-axis linear module 311 provides freedom of movement in the X direction, while the Y-axis linear module 312 provides freedom of movement in the Y direction. To ensure the freedom of movement of the X-axis linear module 311 and the Y-axis linear module 312, the components of the X-axis linear module 311 that require movement are movably connected to the support frame 10, while the components of the Y-axis linear module 312 that require movement are movably connected to the support frame 10 and the X-axis linear module 311.

[0056] It should be understood that since the Y-axis linear module 312 is connected to the X-axis linear module 311, the Y-axis linear module 312 has the X-axis movement freedom. At the same time, the Y-axis linear module 312 itself can provide the Y-axis movement freedom. Therefore, the clamping mechanism 32 installed on the Y-axis linear module 312 has at least the X-axis movement freedom and the Y-axis movement freedom.

[0057] In specific applications, a single-axis drive mode can be used, where the gripper mechanism 32 moves only in the X-direction driven by the X-direction linear module 311, or only in the Y-direction driven by the Y-direction linear module 312. Alternatively, a linked drive mode can be used, where the gripper mechanism 32 moves simultaneously in the X-direction and Y-direction driven by the X-direction linear module 311 and the Y-direction linear module 312. This allows the gripper mechanism 32 to move in any horizontal direction.

[0058] See also Figure 3 In a further optional embodiment, the X-axis linear module 311 includes an X-axis screw rod 3111 , an X-axis moving block 3112 and an X-axis driving unit 3113 .

[0059] The X-axis driving unit 3113 is provided on the support frame 10 and is located outside the protective cavity R. One end of the X-axis moving block 3112 is slidably connected to the support frame 10 , and the other end of the X-axis moving block 3112 is connected to the X-axis screw rod 3111 ;

[0060] One end of the X-axis lead screw 3111 is rotatably connected to the support frame 10 , and the other end passes through the support frame 10 and is connected to the X-axis driving unit 3113 .

[0061] The X-axis driving unit 3113 can drive the X-axis screw rod 3111 to rotate and enable the X-direction moving block 3112 to move along the X-axis screw rod 3111 .

[0062] In this embodiment, the X-axis linear module 311 is a module based on a screw drive that can provide X-axis linear movement freedom, and it at least includes an X-axis screw 3111 , an X-axis moving block 3112 and an X-axis driving unit 3113 .

[0063] One end of the X-axis moving block 3112 in the Y direction is slidingly connected to the support frame 10, and the other end in the Y direction is connected to the X-axis screw rod 3111 to form a screw transmission. In this way, under the drive of the X-axis drive unit 3113, the rotational motion of the X-axis screw rod 3111 is converted into linear movement of the X-axis moving block 3112, so that the X-axis moving block 3112 moves along the X-axis screw rod 3111, that is, it has the freedom of movement in the X direction.

[0064] Please combine Figure 2 and Figure 3 In the illustrated embodiment, the support frame 10 is provided with an X-direction guide groove C1, which is located on the Y-direction inner side wall of the support frame 10, and the Y-direction end of the X-direction moving block 3112 is located in the X-direction guide groove C1 and can move along the X-direction guide groove C1.

[0065] In this embodiment, a slide groove extending along the X-direction is formed on the inner wall of the support frame 10 on the Y-direction side to accommodate the Y-direction end of the X-direction moving block 3112, thereby achieving a sliding connection. Thus, when the X-axis drive unit 3113 drives the X-axis screw 3111 to rotate, the Y-direction end of the X-direction moving block 3112 moves along the X-direction guide groove C1, ensuring the stability and reliability of the X-direction moving block 3112 during movement.

[0066] In a further optional embodiment, the Y-axis linear module 312 includes a Y-axis screw rod 3121 , a Y-axis moving block 3122 , a Y-axis driving unit 3123 and an X-axis guide block 3124 .

[0067] Both ends of the Y-axis screw rod 3121 are provided with X-direction guide blocks 3124 and are slidably connected to the support frame 10 through the X-direction guide blocks 3124 at both ends.

[0068] The Y-moving block 3122 is movably connected to the X-moving block 3112 and the Y-axis screw rod 3121 , and the clamping mechanism 32 is connected to the Y-moving block 3122 .

[0069] The Y-axis drive unit 3123 is arranged on at least one of the X-direction guide blocks 3124 at both ends and is connected to the Y-axis screw rod 3121. The Y-axis drive unit 3123 is located outside the protective cavity R and is used to drive the Y-axis screw rod 3121 to rotate, so that the Y-direction moving block 3122 drives the clamping mechanism 32 to move along the Y-direction.

[0070] In this embodiment, the Y-axis linear module 312 is a module constructed based on a screw drive that can provide Y-axis linear movement freedom. It has at least a Y-axis screw 3121, a Y-axis moving block 3122, a Y-axis driving unit 3123 and an X-axis guide block 3124.

[0071] The Y-direction linear module 312 is slidably connected to the support frame 10 via the X-direction guide block 3124 to ensure that the Y-direction linear module 312 can move along the X-direction under the drive of the X-direction linear module 311 .

[0072] Specifically, both ends of the Y-axis screw rod 3121 are fixedly installed with X-direction guide blocks 3124 that slide with the support frame 10. A Y-direction moving block 3122 is also installed on the Y-axis screw rod 3121, and the Y-direction moving block 3122 is located between the X-direction guide blocks 3124 at both ends.

[0073] In addition, the Y-direction moving block 3122 is connected to the X-direction moving block 3112. In this way, when the X-direction moving block 3112 moves along the X-direction, it can act on the Y-direction moving block 3122, and allow the Y-direction moving block 3122 to drive the Y-axis screw rod 3121 and the X-direction guide blocks 3124 at both ends to move along the X-direction. That is, the entire Y-direction linear module 312 has the freedom of movement in the X-direction.

[0074] Furthermore, the Y-moving block 3122 is movably connected to the X-moving block 3112 and the Y-axis screw 3121, ensuring that the Y-moving block 3122 can achieve linear movement in the Y direction. Specifically, the Y-axis drive unit 3123 located on the X-guide block 3124 can drive the Y-axis screw 3121 to rotate. The Y-moving block 3122 and the Y-axis screw 3121 are screw-coupled, so that the rotation of the Y-axis screw 3121 can be converted into linear movement in the Y direction of the Y-moving block 3122.

[0075] It can be seen from this that the Y-direction moving block 3122 has both X-direction freedom of movement and Y-direction automaticity of movement. Therefore, the clamping mechanism 32 installed at the Y-direction moving block 3122 has at least X-direction freedom of movement and Y-direction movement, thereby ensuring that the clamping mechanism 32 can move to the desired position in the horizontal direction.

[0076] In a specific application, to ensure screw transmission cooperation between the X-axis moving block 3112 and the X-axis screw rod 3111, and between the Y-axis moving block 3122 and the Y-axis screw rod 3121, the X-axis moving block 3112 is provided with a first nut 3114 to cooperate with the X-axis screw rod 3111, and the Y-axis moving block 3122 is provided with a second nut 3125 to cooperate with the Y-axis screw rod 3121. Of course, threaded holes machined in the X-axis moving block 3112 and the Y-axis moving block 3122 can also be used to cooperate with the corresponding screw rods.

[0077] In some optional embodiments, the X-direction moving block 3112 is provided with a Y-direction guide groove C2, which is located at the bottom of the X-direction moving block 3112; the top of the Y-direction moving block 3122 is located at the Y-direction guide groove C2 and can move along the Y-direction guide groove C2.

[0078] In this embodiment, the bottom of the X-direction moving block 3112 has a Y-direction guide groove C2, which extends along the Y-direction. The top of the Y-direction moving block 3122 can be accommodated in the Y-direction guide groove C2. Therefore, when the Y-direction moving block 3122 moves along the Y-axis screw rod 3121, it also moves along the Y-direction guide groove C2.

[0079] In a specific application, the Y-direction guide groove C2 is a T-shaped groove, and accordingly, the Y-direction moving block 3122 is a T-shaped block. The two cooperate to achieve a sliding connection between the Y-direction moving block 3122 and the X-direction moving block 3112, ensuring that the Y-direction moving block 3122 has Y-direction freedom of movement. Of course, the structure and shape of the Y-direction guide groove C2 and the Y-direction moving block 3122 are not limited to this and can be adjusted according to needs.

[0080] In some optional embodiments, the support frame 10 is provided with X-direction guide holes H1, which are located on both sides of the Y direction of the support frame 10, and the X-direction guide blocks 3124 at both ends correspond to the X-direction guide holes H1 on both sides and can move along the X-direction guide holes H1.

[0081] In this embodiment, the two side walls of the support frame 10 in the Y direction are provided with X-direction guide holes H1 extending along the X direction, and at least part of the X-direction guide blocks 3124 at both ends are embedded in the X-direction guide holes H1 on both sides and can move along the X-direction guide holes H1, thereby realizing the sliding connection and cooperation between the Y-direction linear module 312 and the support frame 10.

[0082] It should be noted that in the illustrated embodiment, the Y-axis linear module 312 employs a single-drive solution, i.e., there is one Y-axis drive unit 3123 mounted on the X-axis guide block 3124 at one end. Of course, a dual-drive solution can also be employed, i.e., a Y-axis drive unit 3123 is mounted on each X-axis guide block 3124 at both ends, with the Y-axis drive units 3123 on both sides being driven synchronously.

[0083] Figure 4 for Figure 1 Schematic diagram of the fork and spoon packaging equipment in another perspective. Figure 4 In a further optional embodiment, the support frame 10 is provided with a protective cover 12 , which covers the X-direction guide hole H1 and is used to protect the Y-axis driving unit 3123 .

[0084] It can be understood that since the Y-axis drive unit 3123 is located outside the protective cavity R, in order to achieve the purpose of protecting the Y-axis drive unit 3123, the protective cover 12 must be able to cover the moving range of the Y-axis drive unit 3123. Therefore, the protective cover 12 covers the entire X-direction guide hole H1 and is located outside the protective cavity R.

[0085] Of course, if a dual-drive solution is adopted, protective covers 12 should be provided on both sides of the Y-axis of the support frame 10 to protect the Y-axis drive units 3123 on both sides.

[0086] In a specific application, both the X-axis driving unit 3113 and the Y-axis driving unit 3123 are driven by motors. Preferably, both are variable frequency motors, but this is not limited to this.

[0087] Figure 5 for Figure 3 A partial enlarged view of the middle A. Please refer to Figure 5 In a further optional embodiment, the support frame 10 includes a plurality of guide rods 11. At least one guide rod 11 is provided on both Z-direction inner walls of the X-direction guide hole H1, and the X-direction guide block 3124 is slidably connected to the guide rod 11.

[0088] In this embodiment, guide rods 11 are fixedly installed on both Z-direction inner walls of the X-direction guide hole H1. Correspondingly, limiting grooves for the guide rods 11 are formed on both Z-direction side walls of the X-direction guide block 3124. When the X-direction guide block 3124 moves along the X-direction guide hole H1, the X-direction guide block 3124 also moves along the guide rods 11.

[0089] In this way, the sliding connection between the guide rod 11 in the X-direction guide hole H1 and the X-direction guide block 3124 can effectively prevent the X-direction guide block 3124 from detaching from the X-direction guide hole H1 and ensure the stability of the entire Y-direction linear module 312 during movement.

[0090] exist Figure 5 In the illustrated embodiment, the guide rod 11 has a U-shaped cross-section. Accordingly, the retaining groove on the X-direction guide block 3124 is also U-shaped to mate with the guide rod 11. Furthermore, only one guide rod 11 is provided on each of the two Z-direction inner walls of the X-direction guide hole H1. Of course, the number of guide rods 11 can be adjusted as needed.

[0091] Based on the above, it can be seen that the X-axis linear module 311 and the Y-axis linear module 312 are both screw-type linear modules, but are of course not limited to this. For example, synchronous belt-type linear modules and linear motor-type linear modules can also be used. The design can be adjusted according to the type of linear module used.

[0092] In some optional embodiments, the clamping mechanism 32 includes a lifting device 321 and a clamping claw 322. The lifting device 321 is connected to the multi-axis moving module 31, and the clamping claw 322 is connected to the lifting device 321 and is lifted and lowered by the lifting device 321.

[0093] In this embodiment, the clamping jaws 322 can achieve clamping, and the lifting device 321 can provide Z-direction freedom of movement, so that the clamping jaws 322 can move up and down under the drive of the lifting device 321.

[0094] It can be seen that the clamping claw 322 has three-dimensional freedom of movement under the drive of the X-axis linear module 311, the Y-axis linear module 312 and the lifting device 321, so as to clamp the fork 70 and move it to a desired position.

[0095] In a specific application, the lifting device 321 can be, for example, an air cylinder, an oil cylinder, an electric push rod, etc. The gripper 322 is an electrically driven structure with a grasping function.

[0096] In some optional embodiments, the fork and spoon rack 40 is assembled by a spoon placement plate 41 and a partition 42 , and the partition 42 plays a supporting and separating role to ensure orderly placement on the spoon placement plate 41 .

[0097] In some optional embodiments, a feeding port P is provided on one side wall of the support frame 10 in the X direction, so as to place the fork and spoon 70 toward the fork and spoon rack 40 through the feeding port P. Specifically, the fork and spoon 70 is placed on the spoon placement plate 41 .

[0098] In some optional embodiments, mounting brackets 13 are provided on both sides of the support frame 10 in the X direction. The mounting brackets 13 on both sides are located at the bottom to provide additional mounting locations and support, and can be used to install other auxiliary equipment or components to expand the functionality of the fork and spoon device, ensuring that the support frame 10 is more stable and can bear the corresponding load.

[0099] In some optional embodiments, a cover top plate 14 is provided on the top of the support frame 10. The cover top plate 14 can cover a portion of the top opening of the support frame 10 to protect the components in the protection cavity R.

[0100] Figure 6 FIG2 is a connection block diagram of a control module 50 according to one embodiment of the present application. The fork and spoon packaging device further includes a control module 50 , which includes a control unit 51 , an image acquisition unit 52 , and a plurality of photoelectric sensors 53 .

[0101] A plurality of photoelectric sensors 53 are provided at the location of the aisle D and are used to confirm the position information of the container tray 60 . The image acquisition unit 52 is provided at the mobile clamping claw 30 and is used to acquire the image information of the placement of the fork and spoon.

[0102] The control unit 51 is disposed on the support frame 10 and connected to the movable clamp 30 , the image acquisition unit 52 and a plurality of photoelectric sensors 53 . The control unit 51 is configured to control the operation of the movable clamp 30 based on information from the image acquisition unit 52 and the photoelectric sensors 53 .

[0103] In this embodiment, the control unit 51 serves as the core unit for the control module 50 to implement logic control, the image acquisition unit 52 and multiple photoelectric sensors 53 serve as signal input units of the control module 50 , and the mobile clamp 30 serves as the control object of the control unit 51 .

[0104] Specifically, the control unit 51 coordinates the operation of the equipment to ensure that the relevant components work together according to the predetermined logic. Specifically, it can make decisions and generate control instructions based on the information sent by the image acquisition unit 52 and each photoelectric sensor 53 to control the mobile clamp 30 to perform corresponding actions.

[0105] The multiple photoelectric sensors 53 work together to determine whether the container tray 60 has reached a preset position in aisle D. Only when the container tray 60 reaches the preset position will a switch signal be sent to the control unit 51 to control the movement of the mobile gripper 30. In other words, each photoelectric sensor 53 is used to confirm whether the container tray 60 has reached the preset position.

[0106] The image acquisition unit 52 can acquire image data of the container tray 60 in the aisle D, and thus can confirm whether any container 61 in the container tray 60 is missing and whether a fork 70 has been placed in the container 61 .

[0107] In specific applications, the image acquisition unit 52 is installed at the X-direction moving block 3112 in the mobile clamp 30, so it has at least X-direction movement freedom. The image acquisition unit 52 can monitor the entire operation process in real time, allowing the operator to intuitively understand the operation status of the device, record data and images during the work process, and provide a basis for subsequent quality tracing, fault analysis and process improvement.

[0108] Furthermore, the control unit 51 is primarily connected to the X-axis drive unit 3113, the Y-axis drive unit 3123, the lifting device 321, and the clamping jaw 322 in the movable clamping jaw 30. For example, if the X-axis drive unit 3113 and the Y-axis drive unit 3123 are motors and the lifting device 321 is an electric push rod, precise adjustment of the movement speed and position can be achieved by controlling each motor.

[0109] In specific applications, the control unit 51 can be, for example, a microprocessor, a programmable logic controller, etc., the image acquisition unit 52 can be an industrial camera, a monitor, etc., and the photoelectric sensor 53 can be a photoelectric switch, an infrared sensor, etc.

[0110] In the embodiment provided herein, the number of the clamping jaws 322 is one, and only one spork 70 can be placed at a time. Therefore, multiple reciprocating movements are required to place the spork 70 in each container 61 on the container tray 60. Of course, the number of the clamping jaws 322 can be multiple, so that multiple sporks 70 can be placed at a time, thereby reducing the number of reciprocating movements and improving efficiency.

[0111] In summary, the fork and spoon packaging equipment provided in the present application can automatically place the forks and spoons 70 in each container 61 in the container tray 60 to realize automatic packaging of the forks and spoons 70, greatly improving efficiency, reducing costs, and reducing the risk of missing or misplacing.

[0112] In specific applications, the fork and spoon packaging equipment can be used in the automatic milk powder packaging production line, greatly improving the milk powder packaging efficiency.

[0113] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Those skilled in the art can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A fork and spoon packaging device, characterized in that: include: A supporting frame (10) is formed with a protective cavity (R) therein and a passage (D) is provided at the bottom thereof penetrating along the Y direction, wherein the passage (D) is connected to the protective cavity (R); a conveying device (20) passing through the passage (D) along the Y direction and used for conveying the container pallet (60); a movable clamping claw (30) disposed in the protective cavity (R) and located above the conveying device (20); as well as a fork and spoon rack (40), connected to one side of the support frame (10) in the X direction and located in the protection cavity (R), the fork and spoon rack (40) being used to place the fork and spoon (70); The movable clamp (30) is configured to be able to clamp the fork and spoon (70) at the fork and spoon rack (40) and move the fork and spoon to be placed in the container (61) in the container tray (60).

2. The fork and spoon packaging equipment according to claim 1, characterized in that: The movable clamp (30) includes a multi-axis movable module (31) and a clamp mechanism (32); The clamping mechanism (32) is connected to the multi-axis moving module (31), and the multi-axis moving module (31) can drive the clamping mechanism (32) to move in a horizontal direction.

3. The fork and spoon packaging equipment according to claim 2, characterized in that: The multi-axis moving module (31) includes an X-axis linear module (311) and a Y-axis linear module (312); The X-direction linear module (311) is connected to the support frame (10), and the Y-direction linear module (312) is located below the X-direction linear module (311) and connected to the X-direction linear module (311) and the support frame (10); The clamping mechanism (32) is connected to the Y-direction linear module (312) and moves along the X-direction and / or Y-direction under the drive of the X-direction linear module (311) and the Y-direction linear module (312).

4. The fork and spoon packaging equipment according to claim 3, characterized in that: The X-axis linear module (311) includes an X-axis screw rod (3111), an X-axis moving block (3112), and an X-axis driving unit (3113); The X-axis driving unit (3113) is arranged on the supporting frame (10) and is located outside the protective cavity (R); One end of the X-direction moving block (3112) in the Y direction is slidably connected to the support frame (10), and the other end in the Y direction is connected to the X-axis screw rod (3111); One end of the X-axis screw rod (3111) is rotatably connected to the support frame (10), and the other end passes through the support frame (10) and is connected to the X-axis drive unit (3113); The X-axis driving unit (3113) is capable of driving the X-axis screw rod (3111) to rotate and causing the X-direction moving block (3112) to move along the X-axis screw rod (3111).

5. The fork and spoon packaging equipment according to claim 4, characterized in that: The Y-axis linear module (312) includes a Y-axis screw rod (3121), a Y-axis moving block (3122), a Y-axis driving unit (3123) and an X-axis guide block (3124); Both ends of the Y-axis screw rod (3121) are provided with X-direction guide blocks (3124) and are slidably connected to the support frame (10) through the X-direction guide blocks (3124) at both ends; The Y-direction moving block (3122) is movably connected to the X-direction moving block (3112) and the Y-axis screw rod (3121), and the clamping mechanism (32) is connected to the Y-direction moving block (3122); The Y-axis driving unit (3123) is arranged on at least one of the X-direction guide blocks (3124) at both ends and is connected to the Y-axis screw rod (3121). The Y-axis driving unit (3123) is located outside the protective cavity (R) and is used to drive the Y-axis screw rod (3121) to rotate, so that the Y-direction moving block (3122) drives the clamping mechanism (32) to move together.

6. The fork and spoon packaging equipment according to claim 5, characterized in that: The X-direction moving block (3112) is provided with a Y-direction guide groove (C2), and the Y-direction guide groove (C2) is located at the bottom of the X-direction moving block (3112); The top end of the Y-direction moving block (3122) is located in the Y-direction guide groove (C2) and is capable of moving along the Y-direction guide groove (C2).

7. The fork and spoon packaging device according to claim 5, characterized in that: The support frame (10) is provided with an X-direction guide hole (H1); The X-direction guide holes (H1) are located on both sides of the support frame (10) in the Y direction, and the X-direction guide blocks (3124) at both ends correspond to the X-direction guide holes (H1) located on both sides and can move along the X-direction guide holes (H1).

8. The fork and spoon packaging device according to claim 7, characterized in that: The support frame (10) includes a plurality of guide rods (11); At least one guide rod (11) is provided on the two Z-direction inner walls of the X-direction guide hole (H1), and the X-direction guide block (3124) is slidably connected to the guide rod (11).

9. The fork and spoon packaging device according to claim 2, characterized in that: The clamping mechanism (32) includes a lifting device (321) and a clamping claw (322); The lifting device (321) is connected to the multi-axis moving module (31), and the clamping claw (322) is connected to the lifting device (321) and is lifted and lowered under the drive of the lifting device (321).

10. The fork and spoon packaging device according to any one of claims 1 to 9, characterized in that: It also includes a control module (50), wherein the control module (50) includes a control unit (51), an image acquisition unit (52), and a plurality of photoelectric sensors (53); A plurality of photoelectric sensors (53) are provided at the location of the aisle (D) and are used to confirm the position information of the container tray (60); the image acquisition unit (52) is provided at the movable clamp (30) and is used to acquire fork and spoon placement image information; The control unit (51) is arranged on the supporting frame (10) and connected to the movable clamping claw (30), the image acquisition unit (52) and a plurality of photoelectric sensors (53). The control unit (51) is configured to control the operation of the movable clamping claw (30) based on information sent by the image acquisition unit (52) and the photoelectric sensors (53).

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