Automatic feeding device, packaging equipment and packaging assembly line

Abstract

The utility model relates to an automatic feeding device, packing equipment and packing streamline, the automatic feeding device comprises a base frame and at least one group of feeding unit, each group of feeding unit comprises at least one group of feeding manipulator and a horizontal moving mechanism, the horizontal moving mechanism is arranged on the base frame, the feeding manipulator is arranged on the horizontal moving mechanism, and the feeding manipulator is arranged on the base frame. The feeding mechanical arm is in butt joint with a discharging mechanical arm at the discharging end of the material production line at the material taking position and in butt joint with the packaging machine at the material placing position, and the feeding mechanical arm is constructed to be capable of synchronously clamping a plurality of materials on the discharging mechanical arm and adjusting the group of materials from the vertical posture to the horizontal posture. The horizontal moving mechanism drives the feeding mechanical arm to move in the direction perpendicular to the packaging moving line and sequentially feeds the multiple materials in the same group into the discharging position. Materials are directly placed on the packaging film on the bag making device of the packaging machine in a clamping posture, packaging is completed after longitudinal sealing and transverse sealing, secondary pollution of the materials can be avoided, the overall structure is simple, the occupied area is small, and the manufacturing cost is low.

Description

TECHNICAL FIELD

[0001] The utility model belongs to packaging machinery technical field, especially relate to an automatic feeding device, packaging equipment and packaging assembly line. BACKGROUND

[0002] The ice cream flower color line packaging procedure equipment is the equipment that arranges, transports and packages the ice cream produced by the ice cream flower color line.

[0003] The traditional ice cream production line packaging equipment has the problems that the ice cream contacts the horizontal conveying machine supporting box and the conveying track of the input machine of the packaging machine, and the secondary pollution of the ice cream is easy to be caused.

[0004] There is a multi-channel packaging machine in the prior art, which directly puts the ice cream into the bag maker to complete the packaging by the mechanical hand of the production line. UTILITY MODEL CONTENTS

[0005] The utility model mainly solves the technical problem, provides an automatic feeding device, whole structure is simple, and the land area is small, and the manufacturing cost is low, and the material produced by the production line can be directly put into the bag maker on the clamping posture to complete the packaging, and the secondary pollution of the ice cream and other materials is effectively avoided.

[0006] The utility model another main solution technical problem is to provide a kind of packaging equipment using above-mentioned automatic feeding device, and simultaneously provide a kind of packaging assembly line using the packaging equipment.

[0007] To solve the above technical problems, the first technical solution adopted by the utility model is:

[0008] An automatic feeding device, including base frame and at least one group of feeding unit, each group of the feeding unit includes at least one group of feeding mechanical hand and horizontal movement mechanism, the horizontal movement mechanism is installed on base frame, the feeding mechanical hand is installed on horizontal movement mechanism, the feeding mechanical hand is connected with the material production line discharge end discharge mechanical hand in material taking position and is connected with the packaging machine in material placing position, the feeding mechanical hand is constructed to be synchronous and can clamp multiple materials on discharge mechanical hand and adjust the multiple materials from vertical posture to horizontal posture, the horizontal movement mechanism drives the feeding mechanical hand to move in the direction perpendicular to packaging line and sequentially sends multiple materials in the same group into material placing position.

[0009] Further, a plurality of groups of the feeding units are installed on the base frame, and each group of the feeding units is connected to a single-column packaging machine.

[0010] Further, the feeding manipulator comprises a plurality of feeding mechanical clamps and a rotating mechanism, the rotating mechanism is installed on the horizontal moving mechanism, the feeding mechanical clamps are connected to the rotating mechanism, and the rotating mechanism drives the feeding mechanical clamps to swing 90° in the height direction around the rotating shaft to convert the material between the vertical posture and the horizontal posture.

[0011] Further, the rotating mechanism comprises a base, the base is installed on the horizontal moving mechanism, a rotating shaft is installed on the base, one end of the rotating shaft is connected to the driving device, one or more swing rods are fixedly installed on the rotating shaft, and one or more feeding mechanical clamps are installed on the other end of the swing rods.

[0012] Further, the driving device is composed of a servo motor and a speed reducer, or the driving device adopts a stepping motor, or the driving device adopts a swing cylinder.

[0013] Further, each group of the feeding units comprises two groups of the feeding manipulators and the horizontal moving mechanisms, and the two groups of the feeding manipulators are alternately converted between the material taking position and the material placing position.

[0014] Further, the two groups of the horizontal moving mechanisms in the feeding units are staggered in the horizontal direction and / or the height direction and are installed on the base frame.

[0015] Further, the horizontal moving mechanism adopts an electric linear slide or a pneumatic linear slide.

[0016] To solve the above technical problems, a second technical scheme of the utility model is as follows:

[0017] A packaging equipment comprises a feeding device and a packaging machine, the feeding device adopts the automatic feeding device, the feeding device is connected to one or more packaging machines, and the packaging machine is a single-column down-walking packaging machine.

[0018] To solve the above technical problems, a third technical scheme of the utility model is as follows:

[0019] A packaging flow line comprises a packaging equipment and a boxing machine, the packaging equipment adopts the packaging equipment, the feeding end of the packaging equipment is connected to the outlet end of a material production line, and the discharging end of the packaging equipment is connected to the boxing machine.

[0020] Compared with the prior art, the automatic feeding device, the packaging equipment and the packaging flow line have the following advantages:

[0021] (1) The feeding mechanical hand in the utility model clamps the ice cream from the discharging mechanical hand of the ice cream production line and sends it to the packaging film on the bag making device of the paper packaging machine, the ice cream is always in the clamped posture between the outlet end of the production line and the bag making device of the packaging machine, the ice cream is directly placed on the bag making device without secondary contact, not only avoids the secondary pollution of the ice cream in the packaging process, effectively guarantees the packaging quality of the ice cream, but also improves the finished product rate of the ice cream, is beneficial to saving consumables and reducing manufacturing cost.

[0022] (2) The utility model discloses a feeding mechanical hand swings around the rotation axis in the height direction, adjusts the ice cream from the vertical posture of the material taking position to the horizontal posture of the material placing position, and then the horizontal moving mechanism is used for sequentially sending the clamped multiple ice creams to the material placing position, realizes the accurate cooperation with the production rhythm of the ice cream production line and the single column packaging machine, omits the transverse conveyor in the prior art, does not need to cooperate with the multi-channel packaging machine with large volume, and has the advantages of simple overall structure, small floor area, low manufacturing cost, simple operation and maintenance, and convenient daily maintenance.

[0023] (3) The utility model discloses that one group, two groups or more groups of feeding units can be simultaneously installed on one base frame according to production needs, each feeding unit is connected with a single column packaging machine, the multiple feeding units can work independently, when one packaging machine fails, the normal use of other packaging machines is not affected, the packaging efficiency can be greatly improved, the production cost is reduced, the overall structure is further simplified, and the floor area is further reduced.

[0024] The specific embodiments of the utility model will be further described in detail in combination with the drawings. DRAWINGS

[0025] The drawings are part of the utility model and are used to provide further understanding of the utility model, the illustrative embodiments of the utility model and the description thereof are used to explain the utility model, but do not constitute improper limitation on the utility model. Obviously, the drawings in the following description are only some embodiments, and other drawings can be obtained according to the drawings without creative labor for ordinary skilled in the art.

[0026] In the drawings:

[0027] Figure 1 It is the structure schematic diagram of the ice cream packaging equipment of the utility model;

[0028] Figure 2 It is the lateral structure schematic diagram of the feeding device of the utility model;

[0029] Figure 3 It is the structure schematic diagram of the feeding mechanical hand of the utility model.

[0030] In the drawings:

[0031] Base 1, vertical support 11, horizontal support 12, mounting platform 13, adjustable foot 14;

[0032] Feeding manipulator 2, feeding mechanical clamp 21, rotating mechanism 22, base 221, rotating shaft 222, driving device 223, swing rod 224, coupling 225, belt seat bearing 226, rotating shaft 23, bolt 24;

[0033] Horizontal moving mechanism 3, electric linear slide 31;

[0034] Ice cream production line 4, discharging manipulator 5, ice cream 6, packaging machine 7, bag making device 8.

[0035] It should be noted that the drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments will be described clearly and completely below with reference to the drawings of the embodiments of the present application. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application.

[0037] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0038] In the description of the present application, it should be noted 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 those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] Embodiment one:

[0040] As shown in Figure 1 and Figure 2 The present application provides an automatic feeding device, which is mainly used for the production and packaging of materials such as ice cream. The production and packaging of ice cream will be described in detail below.

[0041] The automatic feeding device comprises a base frame 1 and at least one set of feeding units, all of which are installed on one base frame 1, and is installed between the discharge end of the ice cream production line 4 and the packaging machine 7, which is a single-column down-web packaging machine. The feeding units are connected to the discharge robot 5 of the ice cream production line 4 at the material taking position and are connected to the packaging machine 7 at the material placing position, and are used to transfer the ice cream 6 produced by the ice cream production line 4 to the bag maker 8 of the packaging machine 7 and accurately place the ice cream 6 on the packaging film on the bag maker 8. Then, the ice cream 6 moves along the packaging dynamic line (i.e. the horizontal X direction to the right) on the packaging machine 7, passes through the longitudinal sealing device and the transverse sealing device, and is finally packaged independently. Figure 1

[0042] In the feeding device, each set of feeding units comprises at least one set of feeding robots 2 and a horizontal moving mechanism 3. The horizontal moving mechanism 3 is installed on the base frame 1, and the feeding robot 2 is installed on the horizontal moving mechanism 3. The feeding robot 2 is connected to the discharge robot 5 at the discharge end of the ice cream production line 4. The feeding robot 2 is configured to synchronously clamp a plurality of ice creams 6 sent out by the discharge robot 5 at the material taking position and adjust the plurality of ice creams 6 from the vertical posture at the material taking position to the horizontal posture at the material placing position. The horizontal moving mechanism 3 drives the feeding robot 2 to move in the direction perpendicular to the packaging dynamic line of the packaging machine 7 (i.e. the Y direction of the vertical paper surface) and sequentially sends the plurality of ice creams 6 in the same set to the material placing position on the bag maker 8 of the packaging machine, so that the plurality of ice creams 6 are sequentially arranged on the packaging film along the packaging dynamic line and are further matched with the production rhythm of the single-column packaging machine. Figure 1

[0043] In the feeding device, the feeding robot 2 clamps the ice cream 6 from the discharge robot 5 of the ice cream production line and sends it to the packaging film on the bag maker 8 of the down-web packaging machine. The ice cream 6 is always in a clamped posture from the outlet end of the production line to the bag maker 8 of the packaging machine. The ice cream 6 is directly placed on the bag maker 8 without secondary contact. This not only avoids the secondary pollution of the ice cream 6 in the packaging process, effectively ensures the packaging quality of the ice cream, but also improves the yield of the ice cream, which is beneficial to save materials and reduce manufacturing costs.

[0044] In the feeding device, the feeding robot 2 adjusts the plurality of ice creams 6 from the vertical posture at the material taking position to the horizontal posture at the material placing position, and the horizontal moving mechanism 3 sequentially sends the plurality of ice creams 6 to the material placing position of the packaging machine 7, so as to accurately match the production rhythm of the ice cream production line 4 and the single-column packaging machine 7. This not only ensures the packaging efficiency of the ice cream, but also omits the transverse conveyor in the prior art and does not need to be matched with the multi-channel packaging machine with a large volume. The overall structure is simple, the occupied area is small, the manufacturing cost is low, the operation and maintenance are simple, and the daily maintenance is convenient.

[0045] ​​The feeding device can be installed with one set, two sets or more sets of feeding units on a base frame 1 according to production needs, each set of feeding units is connected to a single-column packaging machine 7, and the multiple sets of feeding units can work independently, so that the normal use of other packaging machines will not be affected when one packaging machine 7 or feeding unit fails, which can greatly improve the packaging efficiency, reduce production costs, and also facilitate further simplification of the overall structure and further reduction of the floor area. Each set of feeding units can be connected to a ice cream production line 4, and two sets of feeding units can be connected to an ice cream production line 4 at the same time.

[0046] As shown in Figures 1 to 3 The embodiment is described in detail by taking one set of feeding units installed on the base frame 1 as an example, and the structure of multiple sets of feeding units is completely the same, and the multiple sets of feeding units are controlled by the control system to act respectively.

[0047] In order to match the production rhythm of the ice cream production line 4 and the packaging machine 7 and improve the packaging efficiency, the embodiment is further preferably provided with two sets of feeding mechanical hands 2 and horizontal moving mechanisms 3 in each set of feeding units, the two sets of feeding mechanical hands 2 are alternately connected to the discharge mechanical hand 5 and the packaging machine 7, respectively, and a plurality of ice creams 6 are clamped from the discharge mechanical hand 5 at one time, and then are sequentially placed into the bag maker 8 of the packaging machine 7 at the discharge position, and are alternately converted between the material taking position and the discharge position to complete the material taking and discharging work, and finally complete the independent packaging of each ice cream 6. The setting of two sets of feeding mechanical hands 2 can not only meet the production rhythm of the packaging machine 7 and the discharge mechanical hand 5, but also facilitate the simplification of the structure of the feeding unit, and also facilitate the simplification of the control logic.

[0048] In the embodiment, each set of feeding mechanical hand 2 further preferably comprises a plurality of feeding mechanical clamps 21 and a rotating mechanism 22, the rotating mechanism 22 is installed on the corresponding horizontal moving mechanism 3, the feeding mechanical clamp 21 is connected to the rotating mechanism 22, the feeding mechanical clamp 21 clamps the ice cream 6 on the discharge mechanical hand 5, the rotating mechanism 22 drives the feeding mechanical clamp 21 to swing 90° in the height direction around the rotation axis 23 to convert the ice cream 6 between the vertical posture and the horizontal posture, specifically between the vertical posture at the material taking position and the horizontal posture at the discharge position.

[0049] The number of feeding mechanical clamps 21 on each set of feeding mechanical hand 2 is determined according to different production lines and customer requirements, and is usually 6, 8, 9 or 12. During ice cream production, the discharge mechanical hand 5 at the discharge end of the production line generally sends out multiple ice creams 6 at one time, and in the embodiment, the number of feeding mechanical clamps 21 in each set of feeding mechanical hand 2 is the same as the number of discharge mechanical hands 5. Figure 2 and Figure 3As shown, in this embodiment, the ice cream production line 4 discharges six ice creams 6 at a time. Each set of feeding robots 2 is equipped with six feeding mechanical clamps 21, which can simultaneously clamp and remove the six ice creams 6 from the discharging robot 5. For the structure where two sets of feeding units simultaneously connect to one ice cream production line 4, the number of feeding mechanical clamps 21 on each set of feeding robots 2 is half the number of discharging robots 5 at the outlet end of the ice cream production line 4.

[0050] In this embodiment, it is further preferred that the feeding mechanical clamp 21 is specifically clamped on the ice cream stick (i.e. the wooden handle of the ice cream) of the ice cream 6, so as to avoid the mechanical parts from contacting the main body of the ice cream 6, thereby avoiding secondary contamination of the ice cream 6 during the feeding process from the feeding robot 2 to the packaging machine 7, and further ensuring the quality of the ice cream 6.

[0051] like Figure 1 and Figure 2 As shown, in this embodiment, it is further preferred that the two sets of feeding robots 2 and horizontal moving mechanisms 3 in the same feeding unit are staggered on the base frame 1 in the horizontal direction (the same X direction as the packaging line) and / or in the vertical direction. In this way, the two sets of feeding robots 2 do not interfere with each other during the process of alternately picking up ice cream 6 and feeding it to the dispensing position. This not only greatly improves packaging efficiency and ensures that the feeding speed meets the production rhythm of the ice cream production line 4 and the packaging machine 7, but also makes the structural layout more reasonable, which helps to simplify the structure of the device, make the entire device structure more compact, and reduce the manufacturing cost of the equipment.

[0052] The feeding robot 2 and the horizontal moving mechanism 3 in different feeding units do not need to be installed separately. Multiple feeding units are arranged in parallel on the base frame 1 in a direction perpendicular to the packaging line (referring to the Y direction). Multiple packaging machines 7 are also arranged in parallel.

[0053] In this embodiment, the base frame 1 preferably adopts a frame structure, including vertical supports 11 and multiple horizontal supports 12, with the horizontal supports 12 arranged vertically. The two ends of the horizontal supports 12 are fixed to the vertical supports 11 by welding or by bolts. More preferably, the vertical supports 11 are two upright metal plates, and the horizontal supports 12 are a horizontally arranged metal plate, or they can be staggered metal beams. The vertical supports 11 and horizontal supports 12 are even more preferably made of stainless steel. The two sets of horizontal moving mechanisms 3 can be installed on the upper and lower horizontal supports 12 respectively and staggered in the horizontal X direction, or they can be installed on one horizontal support 12 and staggered in the horizontal X direction. This structure simplifies the installation structure of the feeding robot 2 and the horizontal moving mechanism 3.

[0054] For the frame structure of the base frame 1, this embodiment also provides another implementation method, in which the vertical support member 11 is multiple vertical beams, the horizontal support member 12 is a single horizontal beam, the two ends of the horizontal beam are welded to the corresponding vertical beams, the multiple horizontal beams are staggered in the horizontal X direction and the height direction, and a set of horizontal moving mechanism 3 is installed on each horizontal beam.

[0055] like Figure 1 As shown, in this embodiment, a further preferred embodiment is that the bottom of the vertical support 11 is detachably mounted on the mounting platform 13 using fasteners, and the mounting platform 13 is then mounted on the workshop floor using multiple adjustable feet 14. This allows for easy adjustment of the working height of the feeding robot 2 according to actual site needs, achieving precise docking with the discharging robot 5 and the packaging machine 7. To improve the overall stability of the frame structure, a horizontal support 12 can be welded to the bottom of the vertical support 11, and the horizontal support 12 is then fixed to the mounting platform 13 using multiple bolts.

[0056] In this embodiment, the length of the horizontal moving mechanism 3 must ensure that the group of feeding robots 2 has sufficient moving distance in the Y direction perpendicular to the packaging movement line. The control system can control the coordinates and time of each group of feeding robots 2 entering the material picking position docked with the discharge robot 5 and the material dispensing position docked with the bag maker 8. That is, the control system sequentially moves the two groups of feeding robots 2 to the material picking position docked with the discharge robot 5 and the material dispensing position docked with the bag maker 8. In this embodiment, the control system can control the feeding robot 2 to move horizontally after swinging to the correct position, or it can control the feeding robot 2 to move horizontally while swinging. The movement trajectory of the feeding robot 2 is a curve, which helps to further improve packaging efficiency.

[0057] In this embodiment, the horizontal moving mechanism 3 preferably adopts an electric linear slide 31, but a pneumatic linear slide can also be used. The electric linear slides 31 are respectively mounted on the corresponding cross braces 12. The mounting direction of the electric linear slides 31 is the Y direction, perpendicular to the packaging movement line of the packaging machine 7, and they are specifically mounted on the lower surface of the cross braces 12. The rotating mechanism 22 in the feeding robot 2 is mounted on the corresponding electric linear slide 31. Each electric linear slide 31 includes a linear slide and a drive motor. The control system controls the movement of the two sets of electric linear slides 31 to achieve linear movement of the two sets of feeding robots 2 along the Y direction, perpendicular to the packaging movement line.

[0058] For the horizontal moving mechanism 3, this embodiment also provides another implementation method. The horizontal moving mechanism 3 is composed of a linear motor and a guide rail pair (not shown in the figure). The guide rail pair is composed of a guide rail and a slider. The guide rail is fixed on the cross support 12. The slider moves linearly along the guide rail. The output end of the linear motor is connected to the slider. The rotating mechanism 22 is installed on the slider. The linear motor pushes the slider to drive the rotating mechanism 22 to move linearly along the guide rail.

[0059] This embodiment also provides another implementation method. The horizontal moving mechanism 3 consists of a rotary motor, a lead screw and a lead screw nut (not shown in the figure). The output end of the rotary motor is connected to one end of the lead screw. The lead screw nut is threaded on the lead screw. The rotating mechanism 22 is installed on the lead screw nut. The rotary motor drives the lead screw to rotate, so that the lead screw nut drives the rotating mechanism 22 to move linearly along the lead screw.

[0060] like Figure 3 As shown, in this embodiment, more preferably, the rotating mechanism 22 in the feeding robot 2 includes a base 221, which is mounted on the electric linear slide 31 of the horizontal moving mechanism 3. A rotating shaft 222 is mounted on the base 221, one end of which is connected to a drive device 223, which is fixed to the base 221. Multiple swing arms 224 are fixedly mounted on the rotating shaft 222, cooperating with six feeding mechanical clamps 21. Six swing arms 224 are mounted on the rotating shaft 222, and a feeding mechanical clamp 21 is mounted at the other end of each swing arm 224. Alternatively, only one swing arm 224 can be mounted on the rotating shaft 222, with six feeding mechanical clamps 21 mounted at the other end; or two or three swing arms 224 can be mounted on the rotating shaft 222, with three or two feeding mechanical clamps 21 mounted at the other end. The swing arm 224 and the feeding mechanism clamp 21 are also arranged in the Y direction, which is perpendicular to the packaging movement line of the packaging machine 7.

[0061] The drive unit 223 preferably uses a combination of a servo motor and a reducer. The output end of the reducer is connected to the rotating shaft 222 via a coupling 225. The two ends of the rotating shaft 222 are connected to the base 221 via bearings 226. The axis of the rotating shaft 222 is the rotation axis 23 of the rotating mechanism 22. Of course, the drive unit 223 can also use a stepper motor or a swing cylinder, as long as it can make the swing arm 224 swing up and down around the rotation axis 23 in the height direction. The feeding robot 2 is connected to the control system of the production line. The control system controls the movement of the two sets of feeding robots 2. The six feeding mechanical clamps 21 on the feeding robot 2 clamp six ice cream sticks 6 at a time and swing them 90°, and then send the six ice creams 6 to the packaging film on the bag maker 8 of the packaging machine 7 in sequence.

[0062] like Figure 1As shown, in the embodiment, further preferably, the feeding mechanical gripper 21 is detachably installed at the end of the swing rod 224 through the bolt 24, and the top end of the swing rod 224 can also be detachably installed on the rotating shaft 222 through the bolt, which is beneficial for maintenance. Because the relative positions of the two groups of feeding mechanical hands 2 to the discharging mechanical hand 5 are different in the horizontal X direction and the height direction, the swing rods 224 in the two groups of feeding mechanical hands 2 are different in structure, the swing rod 224 far away from the discharging mechanical hand 5 is in U-shaped or C-shaped structure, and the swing rod 224 closest to the discharging mechanical hand 5 is in substantially "I"-shaped structure, which only needs to meet the swing radius for docking with the discharging mechanical hand 5.

[0063] In the embodiment, the feeding mechanical gripper 21 adopts an automatic clamping structure controlled by the control system, so that the structure can be simplified, and the stability of the feeding mechanical gripper 21 and the service life of the feeding mechanical hand 2 can be improved.

[0064] As shown in Figure 1 and Figure 2 , the following will take the example of installing one group of feeding units on the base frame 1 and setting two groups of feeding mechanical hands 2 in the one group of feeding units to describe the use process of the feeding device in detail:

[0065] 1. When working, one group of feeding mechanical hands 2 (the group far away from the discharging mechanical hand 5 in the figure) is in a taking position controlled by the control system, and the popsicle 6 in the taking position is in a vertical posture, and the other group of feeding mechanical hands 2 (the group close to the discharging mechanical hand 5 in the figure) is in a discharging position, and the popsicle 6 in the discharging position is in a horizontal posture.

[0066] 2. The control system controls the six feeding mechanical grippers 21 on the feeding mechanical hand 2 in the taking position to act synchronously, and clamps the six popsicles 6 sent by the discharging mechanical hand 5 of the production line at one time, specifically clamping the popsicle sticks of the popsicles 6 and clamping in the width direction of the popsicle sticks.

[0067] 3. The control system controls the driving device 223 (including a servo motor + a speed reducer) of the rotating mechanism 23 of the feeding mechanical hand 2 after clamping the popsicle 6 to act, drives the rotating shaft 222 to rotate, and simultaneously drives the six swing rods 224 and the feeding mechanical grippers 21 to synchronously swing downward by 90° counterclockwise around the rotating shaft center 23, and adjusts the popsicle 6 from the vertical posture to the horizontal posture.

[0068] 4. During the swinging process of the feeding robot 2, the control system synchronously drives the feeding mechanical clamp 21 to move quickly along the Y direction to the feeding position above the bag maker 8. The PLC, based on the position signal of the packaging film color mark detected by the photoelectric switch, instructs the first feeding mechanical clamp 21 on the feeding robot 2 to open and complete the feeding of the first ice cream 6. After the first feeding mechanical clamp 21 feeds the ice cream, the electric linear slide 31 drives the feeding robot 2 to continue to move along the Y direction, quickly moving the second feeding mechanical clamp 21 to the feeding position above the bag maker 8 and opening it to complete the feeding of the second ice cream 6. This process is repeated until all six feeding mechanical clamps 21 have completed feeding.

[0069] 5. The control system controls the electric linear slide 31 to drive the feeding robot 2, which has completed all feeding, to quickly return to the picking position in the Y direction.

[0070] 6. The control system then controls the rotating mechanism 23 of the feeding robot 2 to rotate in the opposite direction around the rotating axis 23. That is, the control drive device 223 (including servo motor + reducer) drives the rotating shaft 222 to rotate in the opposite direction. While the rotating shaft 222 rotates, it drives the six swing arms 224 and the feeding mechanical clamp 21 to swing 90° clockwise upward around the rotating axis 23 in the height direction to reach the position to dock with the discharge robot 5. This completes the entire process of one feeding robot 2 picking up and putting down material.

[0071] 7. Control system control: When one set of feeding robots 2 completes the material picking at the picking position, another set of feeding robots 2 completes the material dispensing at the dispensing position. During the process of one set of feeding robots 2 moving from the picking position to the dispensing position, the other set of feeding robots 2 completes the movement from the dispensing position to the picking position.

[0072] 8. Two sets of feeding robots 2 alternately complete the material picking and dispensing work, and the bottom paper packaging machine completes the independent packaging of ice cream 6.

[0073] The above technical solution has the following beneficial effects:

[0074] 1. In this feeding device, the feeding robot 2 picks up the ice cream 6 from the discharge robot 5 of the ice cream production line and delivers it to the packaging film on the bag maker 8 of the paper feeding packaging machine. The ice cream 6 is always held in a clamped position from the exit end of the production line to the bag maker 8 of the packaging machine. The ice cream 6 is placed directly onto the packaging film on the bag maker 8 of the paper feeding packaging machine without secondary contact. This not only avoids secondary contamination of the ice cream 6 in the packaging process, but also effectively ensures the packaging quality of the ice cream, improves the yield of the ice cream, and helps to save consumables and reduce manufacturing costs.

[0075] 2. The feeding device adjusts the ice cream 6 from the vertical position of the picking position to the horizontal position of the dispensing position by the swing of the feeding robot 2 around the rotation axis 23 in the height direction. Moreover, the horizontal moving mechanism 3 can sequentially send multiple ice creams 6 picked up at the same time to the dispensing position, so as to achieve precise coordination with the production rhythm of the ice cream production line 4 and the single-row packaging machine 7. It eliminates the need for the horizontal conveyor in the existing technology and does not need to be coordinated with the bulky multi-packaging machine. The overall structure is simple, occupies a small area, has low manufacturing cost, is easy to operate and maintain, and is convenient for daily maintenance.

[0076] 3. The feeding device can be installed on the base frame 1 with one, two or more feeding units at the same time according to production needs. Each feeding unit is connected to a single-row packaging machine 7. Multiple feeding units can work independently. If one packaging machine fails, it will not affect the normal use of other packaging machines. This can greatly improve packaging efficiency, reduce production costs, and also help to further simplify the overall structure and reduce the floor space.

[0077] Example 2:

[0078] like Figure 1 As shown, this embodiment provides a packaging device, including a feeding device and a packaging machine 7. The feeding device adopts the automatic feeding device described in Embodiment 1 and Embodiment 2. The feeding device can be connected to one or more packaging machines 7 at the same time. The packaging machine 7 adopts the single-row bottom-feed paper packaging machine in the prior art. Multiple packaging machines 7 are arranged in parallel and installed on one side of the feeding device.

[0079] Example 3:

[0080] This embodiment provides a packaging production line, including packaging equipment and a case packer (not shown in the figure). The packaging equipment is the same as that described in Embodiment 3. The feeding end of the packaging equipment (i.e., the material taking position in the feeding device) is connected to the discharge end of the material production line 2. The discharge end of the packaging equipment (i.e., the discharge end after the packaging machine has finished packaging) is connected to the case packer. The material produced by the material production line 2 is directly boxed after passing through the packaging production line.

[0081] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present utility model. The implementation schemes in the above embodiments can be further combined or replaced. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. An automatic feeding device, characterized in that: The system includes a base frame and at least one set of feeding units. Each set of feeding units includes at least one set of feeding robots and a horizontal moving mechanism. The horizontal moving mechanism is mounted on the base frame, and the feeding robots are mounted on the horizontal moving mechanism. The feeding robots dock with the discharge robots at the material output end of the material production line at the material picking position and with the packaging machine at the material dispensing position. The feeding robots are configured to simultaneously pick up multiple materials from the discharge robots and adjust the group of materials from a vertical posture to a horizontal posture. The horizontal moving mechanism drives the feeding robots to move in a direction perpendicular to the packaging line and sequentially feeds multiple materials in the same group into the material dispensing position.

2. The automatic feeding device according to claim 1, characterized in that: Multiple sets of feeding units are installed on the base frame, and each set of feeding units is connected to a single-row packaging machine.

3. An automatic feeding device according to claim 1 or 2, characterized in that: The feeding robot includes multiple feeding mechanical clamps and a rotating mechanism. The rotating mechanism is mounted on a horizontal moving mechanism. The feeding mechanical clamps are connected to the rotating mechanism. The rotating mechanism drives the feeding mechanical clamps to swing 90° around the rotation axis in the height direction to switch the material between a vertical and a horizontal posture.

4. The automatic feeding device according to claim 3, characterized in that: The rotating mechanism includes a base mounted on a horizontal moving mechanism. A rotating shaft is mounted on the base, one end of which is connected to a drive device. One or more swing arms are fixedly mounted on the rotating shaft, and one or more feeding mechanical clamps are mounted on the other end of the swing arms.

5. The automatic feeding device according to claim 4, characterized in that: The drive device consists of a servo motor and a reducer; or, the drive device is a stepper motor; or, the drive device is a swing cylinder.

6. An automatic feeding device according to claim 1 or 2, characterized in that: Each feeding unit includes two sets of feeding robots and a horizontal moving mechanism, with the two sets of feeding robots alternately switching between the material picking position and the material dispensing position.

7. An automatic feeding device according to claim 6, characterized in that: The two sets of horizontal moving mechanisms in the feeding unit are staggered on the base frame in the horizontal and / or vertical directions.

8. The automatic feeding device according to claim 1 or 2, characterized in that: The horizontal moving mechanism adopts an electric linear slide or a pneumatic linear slide.

9. A packaging equipment, comprising a feeding device and a packaging machine, characterized in that: The feeding device is an automatic feeding device as described in any one of claims 1-8, and the feeding device is connected to one or more packaging machines, wherein the packaging machine is a single-row bottom-feed paper packaging machine.

10. A packaging production line, comprising packaging equipment and a case packer, characterized in that: The packaging equipment is the packaging equipment as described in claim 9, wherein the inlet end of the packaging equipment is connected to the outlet end of the material production line, and the outlet end of the packaging equipment is connected to the case packer.

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