Automatic ice cream arranging device and ice cream production line packaging equipment

Abstract

The utility model relates to an ice cream automatic material arranging device and ice cream production line packaging equipment, the material arranging device comprises a material taking device which is installed on a first support, a material taking position is in butt joint with a mechanical arm at the discharge end of a production line, and the material taking device is constructed to be capable of synchronously clamping a plurality of ice cream sticks on the mechanical arm; adjusting the direction of the group of ice cream from a vertical posture to a horizontal posture; the feeding device is installed on the second support, the material taking position is in butt joint with the material taking device, the material placing position is in butt joint with the packaging machine, and the feeding device is constructed to be capable of synchronously clamping a plurality of ice cream sticks from the material taking device and sequentially placing the ice cream sticks in a bag making device of the packaging machine in a horizontal posture. The ice cream is always in a clamped posture from the outlet end of a production line to the bag making device of the packaging machine, the ice cream is directly placed on the bag making device without secondary contact, secondary pollution of the ice cream in the packaging process is avoided, the packaging quality of the ice cream is effectively guaranteed, the finished product rate of the ice cream is improved, consumables are saved, and the manufacturing cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of ice cream packaging machinery, in particular to an automatic ice cream material sorting device and ice cream production line packaging equipment. Background Art

[0002] Ice cream production line packaging equipment organizes, conveys, and packages the ice cream produced by the production line. Traditional ice cream production line packaging equipment, such as the automatic ice cream loading and unloading device disclosed in Patent No. 201310085489.2, utilizes a transverse conveyor to receive ice cream from the production line's robotic arm. A material feeder then delivers the ice cream to the packaging machine's input mechanism. The input mechanism's shifting fork then pushes the ice cream into the bag-making unit, where it is finally packaged through longitudinal and transverse sealing.

[0003] The problem with traditional ice cream production line packaging equipment is that the ice cream has to come into contact with the trays of the horizontal conveyor and the conveyor track of the packaging machine input machine, which can easily cause secondary contamination of the ice cream.

[0004] There is also a multi-channel packaging machine in the prior art, where a production line robot places the ice cream directly into the bag maker for packaging. Although this packaging machine solves the problem of secondary contamination of ice cream, it has disadvantages such as complex structure, high manufacturing cost, waste of consumables, and troublesome maintenance and operation. Utility Model Content

[0005] The main technical problem solved by the utility model is to provide an automatic ice cream material sorting device, which is connected to the ice cream production line and the packaging machine. The ice cream produced by the ice cream production line can be directly placed into the bag maker in a clamping posture to complete the packaging. It can not only avoid secondary contamination of the ice cream, but also has a simple structure and low manufacturing cost.

[0006] Another major technical problem solved by the present invention is to provide an ice cream production line packaging device that adopts the above-mentioned ice cream automatic material sorting device.

[0007] In order to solve the above technical problems, the first technical solution adopted by the present invention is:

[0008] An automatic ice cream material sorting device, comprising:

[0009] The material taking device is mounted on the first bracket, and the material taking position is connected to the robot arm at the discharge end of the production line. The device is configured to synchronously pick up multiple popsicle sticks on the robot arm and adjust the direction of the group of popsicles from a vertical position to a horizontal position.

[0010] The feeding device is installed on the second bracket, the material taking position is connected to the material taking device, and the material discharging position is connected to the packaging machine. It is constructed to synchronously clamp multiple ice cream sticks from the material taking device and place them in the bag maker of the packaging machine in a horizontal posture.

[0011] Further, the feeding device includes two groups, which are alternately connected with the taking device and synchronously take multiple popsicle sticks from the taking device.

[0012] Further, the two groups of feeding devices are installed side by side on the second support in the horizontal direction.

[0013] Further, the feeding device includes a feeding driving device, a feeding transmission mechanism and multiple feeding mechanical clamps, the feeding driving device and the feeding transmission mechanism are installed on the second support, the output end of the feeding driving device is connected with the feeding transmission mechanism, multiple feeding mechanical clamps are installed on the feeding transmission mechanism, and the feeding driving device drives multiple feeding mechanical clamps to move back and forth between the taking position and the feeding position through the feeding transmission mechanism.

[0014] Further, the feeding driving device is a servo motor, the feeding transmission mechanism is a chain transmission mechanism, the chain transmission mechanism includes a driving sprocket, a driven sprocket and a chain installed on the driving sprocket and the driven sprocket, the driving sprocket is connected with the output end of the feeding driving device through a driving shaft, and multiple feeding mechanical clamps are installed side by side on the chain.

[0015] Further, the feeding device further includes a mechanical clamp opening and closing mechanism, multiple taking opening and closing mechanisms are arranged at the taking position of the feeding device, the number of the taking opening and closing mechanisms corresponds to the number of the feeding mechanical clamps, and the feeding mechanical clamps are synchronously opened or closed by using multiple taking opening and closing mechanisms to realize synchronous taking.

[0016] A feeding opening and closing mechanism is arranged at the feeding position of the feeding device, and the feeding opening and closing mechanism sequentially opens or closes the feeding mechanical clamps to realize feeding one by one.

[0017] The taking opening and closing mechanism and the feeding opening and closing mechanism are respectively fixedly installed on the second support.

[0018] Further, the feeding mechanical clamp includes two clamp arms, the two clamp arms are connected with a connecting plate through a pin shaft, the connecting plate is connected with the feeding transmission mechanism, a tension spring is connected between the two clamp arms, the tension spring is in a natural state when the popsicle stick is clamped, the mechanical clamp opening and closing mechanism includes a cylinder and two pushers, the output end of the cylinder synchronously pushes the two pushers to move linearly in the horizontal direction, the two pushers cooperate with the two clamp arms to drive the two clamp arms to rotate around the pin shaft to realize opening or closing.

[0019] Further, inclined push plates are outwardly extended on the two clamp arms, the pushers cooperate with the outer side surfaces of the inclined push plates, and the pushers move linearly in the horizontal direction to drive the clamp arms to rotate around the pin shaft through the inclined push plates.

[0020] Furthermore, the pushing member is a roller or a cam.

[0021] Furthermore, the second bracket includes a vertical plate, an upper seat plate and a lower seat plate, the bottom end of the vertical plate is fixed on the base, the feeding drive device and the feeding transmission mechanism are installed on the vertical plate, one end of the upper seat plate and the lower seat plate are fixedly connected to the vertical plate, the upper seat plate and the lower seat plate extend in the horizontal direction and are placed above and below the feeding transmission mechanism, and the material taking opening and closing mechanism and the material discharging opening and closing mechanism are respectively installed on the upper seat plate and the lower seat plate.

[0022] The second technical solution adopted in this utility model is:

[0023] An ice cream production line packaging device comprises a material sorting device and a packaging machine. The material sorting device adopts the above-mentioned automatic ice cream sorting device, and the packaging machine is a bottom paper packaging machine.

[0024] In summary, the automatic ice cream sorting device and ice cream production line packaging equipment provided by the present invention have the following advantages compared with the prior art:

[0025] (1) The utility model utilizes a material sorting device to connect with the ice cream production line and the packaging machine. The ice cream is always in a clamped position from the exit end of the production line to the bag maker of the packaging machine. The ice cream is directly placed on the bag maker without secondary contact, thereby avoiding secondary contamination of the ice cream caused by contact with the horizontal conveyor during the packaging process, effectively ensuring the packaging quality of the ice cream, improving the yield of the ice cream, and helping to save consumables and reduce manufacturing costs.

[0026] (2) The utility model has a simple and compact structure, omits the horizontal conveyor in the prior art, has a low manufacturing cost, and is easy to operate and maintain, reducing daily maintenance costs.

[0027] The specific implementation of the present invention will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are part of this utility model and are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. Obviously, the drawings described below are only some embodiments. For those of ordinary skill in the art, other drawings can be derived from these drawings without inventive effort.

[0029] In the attached figure:

[0030] Figure 1 This is a schematic diagram of the structure of the packaging equipment of the ice cream production line of the utility model;

[0031] Figure 2 This is a schematic diagram of the lateral structure of the material sorting device of the utility model;

[0032] Figure 3 This is a structural diagram of the material taking device of the utility model;

[0033] Figure 4 This is a schematic structural diagram of the feeding device of the utility model;

[0034] Figure 5 This is a schematic diagram of the structure of the feeding mechanical clamp and the opening and closing mechanism of the utility model;

[0035] Figure 6 yes Figure 5 Top view of .

[0036] In the picture:

[0037] Retrieving device 1, retrieving mechanical clamp 11, rotating mechanism 12, rotating cylinder 121, rotating shaft 122, seat bearing 123, fixed plate 124, second mounting plate 125, sliding mechanism 13, guide rail 131, slider 132, cylinder seat 133, sliding cylinder 134, first mounting plate 135;

[0038] Feeding device 2, feeding drive device 21, servo motor 211, feeding transmission mechanism 22, driving sprocket 221, driven sprocket 222, chain 223, driving shaft 224, driven shaft 225, feeding mechanical clamp 23, clamping arm 231, pin 232, tension spring 233, first support assembly 24, first support seat 241, seat bearing 242, second support assembly 25, support plate 251, U-shaped plate 252, second support seat 253, seat bearing 254, pad 255, material taking opening and closing mechanism 26, material taking cylinder 261, pushing member 262, material discharging opening and closing mechanism 27, material discharging cylinder 271, pushing member 272, connecting plate 28, inclined push plate 29;

[0039] Robot 3, ice cream 4, ice cream stick 41, packaging machine 5, bag maker 51, conveyor belt 52, first bracket 6, second bracket 7, vertical plate 71, reinforcement plate 72, upper seat plate 73, lower seat plate 74, base 8, table top 81, support legs 82, anchor bolts 83.

[0040] It should be noted that the drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments will be clearly and completely described below in combination with the drawings in the embodiments of the utility model, the following embodiments are used to illustrate the utility model, but not to limit the scope of the utility model.

[0042] In the description of the utility model, it needs to be explained that the orientation or position relation indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer" and the like is the orientation or position relation based on the orientation or position relation shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the utility model.

[0043] In the description of the utility model, it needs to be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected, it can be mechanical connection, or electrical connection, it can be directly connected, or indirectly connected through intermediate medium. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0044] As shown in Figure 1 and Figure 2 The utility model provides a kind of automatic material arrangement device for ice cream, including material taking device 1 and feeding device 2.

[0045] Among them, material taking device 1 is installed at the outlet of ice cream production line, and the mechanical hand 3 of production line discharge end is connected at material taking position, material taking device 1 is configured to be able to synchronously clamp multiple ice cream 4 on mechanical hand 3, and the direction of ice cream 4 is adjusted from vertical posture on mechanical hand 3 to horizontal posture.Feeding device 2 is connected at material taking position with material taking device 1, and is connected at material placing position with packing machine 5, and feeding device 2 is configured to be able to synchronously clamp multiple ice cream 4 from material taking device 1 and sequentially place in bag maker 51 of packing machine 5 with horizontal posture.In the embodiment, the position of ice cream 4 clamped by material taking device 1 and feeding device 2 is ice cream stick 41 (i.e. the wooden handle of ice cream), avoid the contact between mechanical component and the main part of ice cream 4, and further avoid secondary pollution of ice cream 4 in the feeding process from mechanical hand 3 to packing machine 5, to ensure the quality of ice cream 4.

[0046] In the embodiment, material taking device 1 is installed on first support 6, feeding device 2 is installed on second support 7, and first support 6 and second support 7 are both installed on base 8, and base 8 is placed on workshop ground.

[0047] The base 8 includes a table top 81, with multiple support legs 82 installed below the table top 81. The bottom of the support legs 82 is installed with height-adjustable anchor bolts 83. The first bracket 6 and the second bracket 7 are both installed vertically above the table top 81. The first bracket 6 also includes a table top and multiple support legs (not shown in the figure). The material removal device 1 is installed on the table top of the first bracket 6, and the bottoms of the multiple support legs are fixed to the table top 81 of the base 8 by screws or welding. The second bracket 7 includes a vertical plate 71. The vertical plate 71 is perpendicular to the table top 81 of the base 8 and extends in a direction perpendicular to the conveying direction of the packaging machine 5. The bottom of the vertical plate 71 is welded to the table top 81 of the base 8. In order to improve the overall support strength of the vertical plate 71, multiple reinforcement plates 72 are welded on both sides of the vertical plate 71. The reinforcement plates 72 are welded to the vertical plate 71 and the table top 81 respectively.

[0048] During ice cream production, the robot 3 at the discharge end of the production line generally delivers multiple ice creams 4 at a time, such as Figure 2 As shown, the production line discharges six ice cream bars 4 at a time. The retrieving device 1 also simultaneously picks up six ice cream bars 4 at a time, and the feeding device 2 similarly picks up six ice cream bars 4 at a time. The number of ice cream bars that the retrieving device 1 and the feeding device 2 can pick up at a time is determined by 1 / 2, 1 / 3, or 1 / 4 of the number of ice cream bars in a single row of the color line and the required production line speed.

[0049] To coordinate with the production rhythm of packaging machine 5, this embodiment preferably employs two feeding devices 2. These two feeding devices 2 alternately dock with the retrieving device 1, thereby alternating between the retrieving and unloading operations. Each feeding device 2 simultaneously grabs six popsicle sticks 41 from the retrieving device 1 and sequentially places them into the bag maker 51 of the packaging machine 5 at the unloading position, resulting in each popsicle 4 being individually packaged. The two feeding devices 2 are mounted side by side horizontally on the second bracket 7. This facilitates the docking of the two feeding devices 2 with the retrieving device 1, simplifies the overall structure of the device, and makes it more compact.

[0050] In this embodiment, Figures 1 to 3 As shown, the material picking device 1 includes multiple material picking mechanical clamps 11, a rotating mechanism 12, and a sliding mechanism 13. The sliding mechanism 13 is mounted on the table top of the first bracket 6, the rotating mechanism 12 is mounted on the sliding mechanism 13, and the multiple material picking mechanical clamps 11 are mounted side by side on the rotating mechanism 12. The sliding mechanism 13 drives the rotating mechanism 12 and the multiple material picking mechanical clamps 11 to move in the horizontal direction, and the rotating mechanism 12 drives the multiple material picking mechanical clamps 11 to rotate 90 degrees in the vertical direction, rotating the vertical posture of the ice cream 4 when it is picked up from the robot 3 to a horizontal posture so that it can be docked with the feeding device 2.

[0051] In this embodiment, it is further preferred that the sliding mechanism 13 includes two parallel guide rails 131, and the guide rails 131 are arranged along the horizontal direction (ie Figure 1 and Figure 3 The guide rails 131 extend in the same direction as the material conveying direction of the packaging machine 5. The two guide rails 131 are mounted in parallel on the top of the first bracket 6. A slider 132 is mounted on each guide rail 131. The slider 132 slides along the guide rail 131. A cylinder base 133 is mounted on the top of the first bracket 6. A sliding cylinder 134 is fixedly mounted on the cylinder base 133. The output end of the sliding cylinder 134 is fixedly connected to a first mounting plate 135. The first mounting plate 135 is fixedly connected to the two sliders 132. The rotating mechanism 12 is fixed to the two sliders 132. The movement of the sliding cylinder 134 drives the two sliders 132 to slide synchronously along the guide rails 131 through the first mounting plate 135. Of course, a sliding cylinder 134 can also be installed for each slider 132. Each sliding cylinder 134 is fixed to the first bracket 6 or directly fixed to the rear end of the guide rail 131. The two sliding cylinders 134 are controlled by a control system to move synchronously.

[0052] In this embodiment, the rotating mechanism 12 includes a rotating cylinder 121, the output end of the rotating cylinder 121 is connected to a rotating shaft 122, the rotating cylinder 121 drives the rotating shaft 122 to rotate, and the two ends of the rotating shaft 122 are respectively mounted on a fixed plate 124 through a seat bearing 123. The two fixed plates 124 are respectively fixed on two sliders 132, and the rotating cylinder 121 is fixed on one of the fixed plates 124 (i.e. Figure 2 The rotating shaft 122 extends in the same direction as the arrangement of the manipulators 3. Multiple second mounting plates 125 are mounted side by side on the rotating shaft 122, and multiple picker clamps 11 are correspondingly fixedly mounted on these second mounting plates 125. In this embodiment, six picker clamps 11 are mounted side by side on the rotating shaft 122 to synchronously pick up six popsicle sticks 41 delivered by the manipulators 3. The picker clamps 11 are connected to the production line's control system, which controls their synchronous movement. The picker clamps 11 pick up six popsicle sticks 41 at once, rotate them 90°, and then deliver all six popsicle sticks 41 to the feeding device 2.

[0053] When taking the material, the sliding cylinder 134 pushes the two sliders 132 to move forward along the guide rail 131 (i.e. Figure 1 and Figure 3 The mechanical clamp 11 is moved to the ice cream drop position of the production line and then closed, the ice cream stick 41 is clamped, and the manipulator 3 is released. The sliding cylinder 134 moves backward (ie Figure 1 and Figure 3The rotating cylinder 121 drives the rotating shaft 122 and the material picking mechanical clamp 11 to rotate, thereby driving the ice cream 4 to rotate 90 degrees, from a vertical posture to a horizontal posture, and the sliding cylinder 134 pushes the two sliders 132 forward along the guide rail 131 to the designated position for docking with the feeding device 2. The material picking mechanical clamp 11 is released and clamped by the feeding device 2 at the same time. Finally, the sliding cylinder 134 moves backward again and moves out of the docking position, completing the entire process of taking materials.

[0054] like Figure 1 、 Figure 2 、 Figures 4 to 6 As shown, in this embodiment, the structures of the two feeding devices 2 are exactly the same, and they are respectively installed on the vertical plate 71 of the second bracket 7 through supporting components.

[0055] In this embodiment, each feeding device 2 preferably includes a feeding drive device 21, a feeding transmission mechanism 22, and a plurality of feeding mechanical clamps 23. The feeding drive device 21 and the feeding transmission mechanism 22 are respectively mounted on the vertical plate 71 of the second bracket 7 via support assemblies, and the plurality of feeding mechanical clamps 23 are fixedly mounted side by side on the feeding transmission mechanism 22. The feeding drive device 21 drives the plurality of feeding mechanical clamps 23 to cyclically reciprocate between the material taking position and the material discharge position through the feeding transmission mechanism 22.

[0056] In this embodiment, the feed drive device 21 is further preferably a servo motor 211, and the feed transmission mechanism 22 is a chain transmission mechanism. The chain transmission mechanism includes a driving sprocket 221, a driven sprocket 222, and a chain 223 mounted on the driving sprocket 221 and the driven sprocket 222. The driving sprocket 221 is connected to the output end of the feed drive device 21 via a driving shaft 224, and the driven sprocket 222 is connected to the driven shaft 225. A plurality of feed mechanical clamps 23 are mounted side by side on the chain 223. Of course, the feed transmission mechanism 22 can also be a belt transmission mechanism.

[0057] In this embodiment, Figure 2 The feeding device 2 on the left side is fixed to the vertical plate 71 via the first supporting assembly 24 , and the feeding device 2 on the right side is fixed to the vertical plate 71 via the second supporting assembly 25 .

[0058] Among them, the first support assembly 24 includes a first support seat 241, and the first support seat 241 is a C-shaped structure in cross section. One end of the first support seat 241 is fixed to the vertical plate 71 by screws, and the servo motor 211 in the left feeding device 2 is fixed to the other end of the first support seat 241. A seat bearing 242 is installed on the vertical plate 71 corresponding to the driving shaft 224 and the driven shaft 225 respectively. The driving shaft 224 and the driven shaft 225 are respectively installed in the corresponding seat bearings 242. The servo motor 211 is installed on the left side of the vertical plate 71, and its output end is fixedly connected to one end of the driving shaft 224 by a screw or a key. The chain transmission mechanism in the left feeding device 2 is placed on the right side of the vertical plate 71.

[0059] The second support assembly 25 includes a support plate 251. The support plate 251 and the first support seat 241 are mounted on either side of the vertical plate 71. One or two support plates 251 may be provided. One end of the support plate 251 is welded or screwed to the vertical plate 71. A U-shaped plate 252 is welded or screwed to the other end of the support plate 251. The U-shaped plate 252 is mounted parallel to the vertical plate 71. The use of the U-shaped plate 252 structure helps to improve the overall structural strength of the second support assembly 25 and enhance its supporting capacity. The servo motor 211 in the right-side feeding device 2 is fixed to the U-shaped plate 252 via a second support seat 253. The second support seat 253 has the same structure as the first support seat 241. A bearing 254 with a seat is mounted on the U-shaped plate 252, corresponding to the driving shaft 224 and the driven shaft 225 of the right-side feeding device 2. The driving shaft 224 and the driven shaft 225 are respectively mounted in the corresponding bearing 254. The chain transmission mechanism of the right-side feeding device 2 is placed on the left side of the U-shaped plate 252.

[0060] In order to further enhance the structural strength of the second support assembly 25 , pads 255 are further welded to the U-shaped plate 252 . The number and positions of the pads 255 correspond to the connection positions between the second support seat 253 and the U-shaped plate 252 .

[0061] In this embodiment, the feeder clamp 23 can employ the same structure as the retrieving clamp 11, employing an automatic gripping mechanism controlled by a control system. In this embodiment, the feeder clamp 23 preferably employs a purely mechanical structure, with a separate opening and closing mechanism controlling the opening and closing of the feeder clamp 23. The feeder clamps 23 in the two feeding devices 2 alternately cooperate with one opening and closing mechanism to open and close. This reduces the weight of the feeder clamp 23, simplifies its structure, and improves the gripping stability of the feeder clamp 23, thereby extending the service life of the feeding device 2.

[0062] In this embodiment, it is further preferred that the opening and closing mechanism includes a material taking opening and closing mechanism 26 and a material discharging opening and closing mechanism 27. Multiple groups of material taking opening and closing mechanisms 26 are provided corresponding to the material taking position of the feeding device 2. The number of material taking opening and closing mechanisms 26 corresponds to the number of feeding mechanical clamps 23. Multiple groups of material taking opening and closing mechanisms 26 are used to synchronously open or close multiple feeding mechanical clamps 23 to achieve synchronous material taking. That is, six groups of material taking opening and closing mechanisms 26 are controlled at one time to synchronously open six feeding mechanical clamps 23 to synchronously and simultaneously clamp six popsicle sticks 41 at one time. Only one group of discharging opening and closing mechanism 27 is provided corresponding to the discharging position of the feeding device 2. The discharging opening and closing mechanism 27 opens and closes the feeding mechanical clamps 23 in sequence to discharge the materials one by one, and releases the six popsicle sticks 4 clamped at one time at the material taking position into the bag maker 51 one by one.

[0063] like Figures 4 to 6 As shown, the material picking opening and closing mechanism 26 and the material discharging opening and closing mechanism 27 are respectively fixedly mounted on the second bracket 7, and an upper seat plate 73 and a lower seat plate 74 are provided on the vertical plate 71 of the second bracket 7, and one end of the upper seat plate 73 and the lower seat plate 74 are welded or screwed to the vertical plate 71, and the upper seat plate 73 and the lower seat plate 74 are arranged up and down and placed above and below the feeding transmission mechanism 22, and the material picking opening and closing mechanism 26 and the material discharging opening and closing mechanism 27 are respectively mounted on the upper seat plate 73 and the lower seat plate 74, and the material picking opening and closing mechanism 26 and the material discharging opening and closing mechanism 27 do not move with the feeding mechanical clamp 23.

[0064] In this embodiment, preferably, the feeding mechanical clamp 23 includes two clamping arms 231, and the two clamping arms 231 are connected to the connecting plate 28 through a pin shaft 232. The connecting plate 28 is fixedly connected to the chain 223 in the feeding transmission mechanism 22. In order to improve the structural strength of the connecting plate 28, the connecting plate 28 further preferably adopts a U-shaped cross-section structure, and a tension spring 233 is connected between the two clamping arms 231. When clamping the ice cream stick 41, the tension spring 233 is in a naturally tensioned state, ensuring that the feeding mechanical clamp 23 is in a closed state for clamping the ice cream stick 41.

[0065] The structure and operating principle of the material retrieving and opening and closing mechanism 26 and the material discharging and opening and closing mechanism 27 are the same. The material retrieving and opening and closing mechanism 26 includes a material retrieving cylinder 261 and two pushers 262. The material retrieving cylinder 261 is fixed to the upper base plate 73. The output end of the material retrieving cylinder 261 synchronously pushes the two pushers 262 to move linearly in the horizontal direction. The two pushers 262 cooperate with the two clamping arms 231 to drive the two clamping arms 231 to rotate around the pin 232 respectively to achieve opening or closing. When opening, the tension spring 233 is stretched to open. When the material retrieving cylinder 261 moves in the opposite direction, the two clamping arms 231 are reset under the action of the tension spring 233, achieving closing of the two clamping arms 231. The material discharging and opening mechanism 27 includes a material discharging cylinder 271 and two pushers 272. The material discharging cylinder 271 is fixed to the lower base plate 74.

[0066] In this embodiment, an inclined push plate 29 further extends outward from each of the two clamping arms 231. The inclined push plate 29 is tilted outward from a position near the symmetrical centerline of the two clamping arms 231. Two pushers 262 or 272 act on the outer surfaces of the two inclined push plates 29. The pushers 262 or 272 cooperate with the outer surfaces of the inclined push plates 29. When the pushers 262 or 272 move linearly in the horizontal direction, they drive the clamping arms 231 to rotate about the pins 232 through the inclined push plates 29. To reduce friction between the pushers 262 and 272 and the inclined push plates 29 during movement, the pushers 262 and 272 are preferably rollers or cams.

[0067] The working process of the material sorting device is described in detail below:

[0068] 1. When the material-picking device 1 is picking up materials, the control system controls the sliding cylinder 134 to push the material-picking mechanical clamp 11 forward to clamp the ice cream 4 delivered by the robot 3 of the ice cream production line. At this time, six ice creams 4 are clamped at the same time, and the ice cream 4 is in a vertical state. The clamping position is the ice cream stick 41, and it is clamped in the width direction of the ice cream stick 41.

[0069] 2. After clamping, the sliding cylinder 134 pushes the material-taking mechanical clamp 11 to move backward, and at the same time, the rotating cylinder 121 drives the material-taking mechanical clamp 11 to rotate downward 90 degrees. At this time, the six ice creams 4 are simultaneously rotated from a vertical posture to a horizontal posture.

[0070] 3. The six feeding mechanical clamps 23 of one group of feeding devices 2 are in the material picking position, that is, the position where they are docked with the material picking mechanical clamp 11 that has turned to a horizontal posture. The six material picking cylinders 261 in the six groups of material picking opening and closing mechanisms 26 are controlled to move forward. Under the action of the pushing member 262, the two clamping arms 231 in the six feeding mechanical clamps 23 are all stretched open. At the same time, the sliding cylinder 134 is controlled to push the material picking mechanical clamp 11 forward again, so that the ice cream stick 4 enters the clamping range of the feeding mechanical clamp 23 in the open state.

[0071] 4. Retract the six material-taking cylinders 261, and the pusher 262 gradually separates from the two clamping arms 231. The two clamping arms 231 automatically reset and close under the action of the tension spring 233 to clamp the corresponding popsicle stick 41, while controlling the material-taking mechanical clamp 11 to open and release the popsicle stick 41.

[0072] 5. The servo motor 211 in this set of feeding devices 2 drives the six feeding mechanical clamps 23 to quickly move to the material drop position above the bag maker 51 of the lower paper packaging machine 5. During this process, the servo motor 211 in the other set of feeding devices 2 drives the six feeding mechanical clamps 23 to quickly move to the upper material removal position, and the above steps 1-5 are repeated to complete the material removal.

[0073] 6. Control the discharge opening and closing mechanism 27 to perform the same action, so that the first feeding mechanical clamp 23 that enters the blanking position opens, releases the ice cream stick 41, and the ice cream 4 falls on the bag maker 51. As the bag maker 51 moves forward, the discharge opening and closing mechanism 27 then opens the remaining five feeding mechanical clamps 23 that enter the blanking position in turn, so that the six ice creams 4 fall on the bag maker 51 in turn. The six ice creams 4 are pulled by the bag maker 51 through the longitudinal sealing machine and transverse sealing machine (not shown in the figure) at the rear in turn, completing the independent packaging of the ice cream 4.

[0074] 7. The servo motor 211 in this group of feeding devices 2 drives the six feeding mechanical clamps 23 to quickly move to the upper material taking position. At the same time, the six feeding mechanical clamps 23 in another group of feeding devices 2 move to the lower material discharge position. Repeat the above step 6 to complete the discharge.

[0075] The present invention also provides an ice cream production line packaging device, including a material sorting device and a packaging machine 5. The material sorting device adopts the automatic ice cream sorting device described above, and the packaging machine 5 adopts a bottom paper packaging machine.

[0076] The above technical solution has the following beneficial effects:

[0077] 1. The material sorting device is connected to the ice cream production line and the packaging machine. The ice cream is always in a clamped position from the exit of the production line to the bag maker of the packaging machine. The ice cream is directly placed on the bag maker without secondary contact, which avoids secondary contamination of the ice cream caused by contact with the horizontal conveyor during the packaging process. It effectively ensures the packaging quality of the ice cream, improves the yield of the ice cream, and is conducive to saving consumables and reducing manufacturing costs.

[0078] 2. The material sorting device has a simple and compact structure, low manufacturing cost, and is easy to operate and maintain, reducing daily maintenance costs.

[0079] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with this patent can make some changes or modifications to equivalent embodiments with equivalent changes using the technical content suggested above without departing from the scope of the technical solution of the present invention. The implementation schemes in the above embodiments can be further combined or replaced. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the solution of the present invention.

Claims

1. An automatic ice cream material sorting device, characterized in that: include: The material taking device is mounted on the first bracket, and the material taking position is connected to the robot arm at the discharge end of the production line. The device is configured to synchronously pick up multiple popsicle sticks on the robot arm and adjust the direction of the group of popsicles from a vertical position to a horizontal position. The feeding device is installed on the second bracket, the material taking position is connected to the material taking device, and the material discharging position is connected to the packaging machine. It is constructed to synchronously clamp multiple ice cream sticks from the material taking device and place them in the bag maker of the packaging machine in a horizontal posture.

2. The automatic ice cream processing device according to claim 1, characterized in that: The feeding device includes two groups, which are alternately connected to the material taking device and synchronously clamp multiple ice cream sticks from the material taking device.

3. The automatic ice cream processing device according to claim 2, characterized in that: The two groups of feeding devices are installed side by side on the second bracket in a horizontal direction.

4. The automatic ice cream processing device according to any one of claims 1 to 3, characterized in that: The feeding device includes a feeding drive device, a feeding transmission mechanism and multiple feeding mechanical clamps. The feeding drive device and the feeding transmission mechanism are installed on the second bracket. The output end of the feeding drive device is connected to the feeding transmission mechanism. Multiple feeding mechanical clamps are installed on the feeding transmission mechanism. The feeding drive device drives the multiple feeding mechanical clamps to move back and forth between the material picking position and the material discharging position through the feeding transmission mechanism.

5. The automatic ice cream processing device according to claim 4, characterized in that: The feeding drive device is a servo motor, and the feeding transmission mechanism is a chain transmission mechanism. The chain transmission mechanism includes a driving sprocket, a driven sprocket and a chain installed on the driving sprocket and the driven sprocket. The driving sprocket is connected to the output end of the feeding drive device through a driving shaft, and multiple feeding mechanical clamps are installed side by side on the chain.

6. The automatic ice cream processing device according to claim 4, characterized in that: The feeding device also includes a mechanical clamp opening and closing mechanism, and multiple sets of material taking opening and closing mechanisms are provided corresponding to the material taking positions of the feeding device. The number of the material taking opening and closing mechanisms corresponds to the number of the feeding mechanical clamps, and the multiple sets of the material taking opening and closing mechanisms are used to synchronously open or close the feeding mechanical clamps to achieve synchronous material taking; A set of discharge opening and closing mechanisms is provided corresponding to the discharge positions of the feeding device, and the discharge opening and closing mechanisms sequentially open or close the feeding mechanical clamps to discharge the materials one by one; The material taking opening and closing mechanism and the material discharging opening and closing mechanism are respectively fixedly mounted on the second bracket.

7. The automatic ice cream processing device according to claim 6, characterized in that: The feeding mechanical clamp includes two clamping arms, which are connected to a connecting plate via a pin shaft, and the connecting plate is connected to a feeding transmission mechanism. A tension spring is connected between the two clamping arms. When clamping an ice cream stick, the tension spring is in a natural state. The mechanical clamp opening and closing mechanism includes a cylinder and two pushers. The output end of the cylinder synchronously pushes the two pushers to move linearly in the horizontal direction. The two pushers cooperate with the two clamping arms to drive the two clamping arms to rotate around the pin shaft to open or close.

8. The automatic ice cream processing device according to claim 7, characterized in that: An oblique push plate extends outward from the two clamping arms, and the pushing member cooperates with the outer surface of the oblique push plate. When the pushing member moves linearly in the horizontal direction, the clamping arms are driven to rotate around the pin shaft through the oblique push plate.

9. The automatic ice cream processing device according to claim 7, characterized in that: The pushing member is a roller or a cam.

10. The automatic ice cream processing device according to claim 6, characterized in that: The second bracket includes a vertical plate, an upper seat plate and a lower seat plate, the bottom end of the vertical plate is fixed on the base, the feeding drive device and the feeding transmission mechanism are installed on the vertical plate, one end of the upper seat plate and the lower seat plate are fixedly connected to the vertical plate, the upper seat plate and the lower seat plate extend in the horizontal direction and are placed above and below the feeding transmission mechanism, and the material taking opening and closing mechanism and the material discharging opening and closing mechanism are respectively installed on the upper seat plate and the lower seat plate.

11. An ice cream production line packaging equipment, including a material handling device and a packaging machine, characterized in that: The material sorting device adopts the automatic ice cream sorting device as described in any one of claims 1 to 10, and the packaging machine is a bottom paper packaging machine.

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