Ham sausage robotic arm fully automated tray-loading system product gripping and conveying device

Abstract

This utility model discloses a product gripping and conveying device for a fully automatic ham sausage robotic tray system. It includes a gripping and conveying frame connected to a machine frame, with a gripping and conveying active roller and a passive roller rotatably connected to both ends of the frame. A gripping and conveying transmission belt is driven between the active and passive rollers. The active roller is driven by a gripping and conveying reduction gearbox, which is driven by a gripping and conveying motor. The motor is electrically connected to a motor controller. Gripping and conveying limit strips are provided on the transmission belt, forming gripping and conveying limit grooves between adjacent limit strips. These limit grooves correspond left and right to the limit grooves of the second vibrating plate of the vibrating material. This achieves automated product gripping and conveying.

Description

Technical Field

[0001] This utility model relates to the field of food processing technology, and in particular to a product gripping and conveying device for a fully automatic plating system for ham sausages. Background Technology

[0002] With the increasing purchasing power of the population, the market for products such as ham sausages, sausages, and grilled sausages will continue to grow. During the processing of ham sausages, sausages, and grilled sausages, the stuffed sausages need to be placed onto the stretch film packaging conveyor belt of a product stretch film packaging device for packaging. This conveyor belt has stretch film packaging cavities for placing the sausages. To ensure that each sausage can be placed individually, each stretch film packaging cavity has a certain spacing. Currently, when arranging ham sausages, sausages, and grilled sausages on trays, they can only be placed one by one manually into the stretch film packaging cavities, resulting in high labor costs and low production efficiency. A search revealed no literature on fully automated robotic tray arranging systems for ham sausages, sausages, and grilled sausages, and even less literature on product gripping and conveying devices for fully automated robotic tray arranging systems for ham sausages. Summary of the Invention

[0003] The purpose of this invention is to provide a product gripping and conveying device for a fully automatic ham sausage robotic arm tray system, in order to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a product gripping and conveying device for a fully automatic ham sausage robotic tray system. The product gripping and conveying device includes a gripping and conveying frame connected to a machine frame. A gripping and conveying active roller and a passive roller are rotatably connected to both ends of the gripping and conveying frame. A gripping and conveying transmission belt is driven between the active and passive rollers. The active roller is driven to a gripping and conveying reduction gearbox. The reduction gearbox is driven to a gripping and conveying motor. The motor is electrically connected to a gripping and conveying motor controller. Gripping and conveying limit strips are provided on the transmission belt. Gripping and conveying limit grooves are formed between adjacent limit strips. The gripping and conveying limit grooves correspond left and right to the limit grooves of the second vibrating plate of the vibrating material.

[0005] This utility model has the following advantages:

[0006] 1. The product gripping and conveying device of this utility model: The gripping and conveying motor is controlled by a PLC controller through a gripping and conveying motor controller. The gripping and conveying motor drives the gripping and conveying active roller to rotate through the gripping and conveying reduction gearbox. The gripping and conveying active roller drives the gripping and conveying transmission belt to rotate around the gripping and conveying passive roller. This structural design enables the product to move continuously from right to left through the gripping and conveying transmission belt, thus realizing the automation of product gripping and conveying. Attached Figure Description

[0007] Appendix Figure 1 This is a schematic diagram of the fully automated ham sausage plating system using a robotic arm.

[0008] Appendix Figure 2 It is attached Figure 1 Top view.

[0009] Appendix Figure 3 This is a schematic diagram of the structure of the robotic arm connected to the frame of the fully automatic ham sausage plating system.

[0010] Appendix Figure 4 This is a schematic diagram of the product vibration feeding device of the fully automatic tray-loading system for ham sausages.

[0011] Appendix Figure 5 It is attached Figure 4 Top view.

[0012] Appendix Figure 6 It is attached Figure 5 AA cross-section view.

[0013] Appendix Figure 7 It is attached Figure 6 BB cross-section.

[0014] Appendix Figure 8 This is a structural diagram of the product return conveying device of the fully automatic tray-stacking system for ham sausages.

[0015] Appendix Figure 9 It is attached Figure 8 Top view.

[0016] Appendix Figure 10 It is attached Figure 9 CC and DD cross-sectional views.

[0017] Appendix Figure 11 It is attached Figure 9 EE cross-section diagram.

[0018] Appendix Figure 12 This is a schematic diagram of the chain plate arrangement of the turning conveyor chain in the fully automatic product return conveying device of the ham sausage robotic arm.

[0019] Appendix Figure 13 It is attached Figure 12 A bottom view.

[0020] Appendix Figure 14 It is attached Figure 12 Top view.

[0021] Appendix Figure 15 This is a schematic diagram of the robotic gripper of a fully automated ham sausage plating system.

[0022] Appendix Figure 16 It is attached Figure 15 The left view.

[0023] Appendix Figure 17 This is a schematic diagram of the integrated vacuum generator assembly of the fully automatic ham sausage handling robot system.

[0024] Appendix Figure 18 This is a schematic diagram of the cylinder and solenoid valve combination of the fully automatic ham sausage handling robot system.

[0025] Appendix Figure 19 This is a schematic diagram of the integrated vacuum generator of the fully automatic ham sausage handling robot system.

[0026] Appendix Figure 20 It is attached Figure 19 The right view.

[0027] Appendix Figure 21 This is a schematic diagram of the internal structure of the integrated vacuum generator of the fully automatic ham sausage loading robot system.

[0028] Appendix Figure 22 This is the pneumatic circuit diagram of the integrated vacuum generator of the fully automatic ham sausage handling robot system.

[0029] Appendix Figure 23 This is a schematic diagram of the electrical box of a fully automatic ham sausage plating robot system.

[0030] In the diagram: 1-Product storage and conveying device, 1.1-Product storage and conveying support leg, 1.2-Product storage and conveying frame, 1.3-Product storage and conveying passive roller, 1.4-Product storage and conveying transmission belt, 1.5-Product storage and conveying hopper, 1.6-Product storage and conveying reduction gearbox, 1.7-Product storage and conveying photoelectric switch, 1.8-Product storage and conveying outlet, 1.9-Product storage and conveying motor, 1.10-Product storage and conveying active roller, 2-Product vibrating feeder device, 2.1-Vibrating feeder frame, 2.2-Vibrating feeder hopper vibrator, 2.3-Vibrating feeder hopper, 2.4-Vibrating feeder grid, 2.5-Vibrating feeder first vibrating plate, 2.5.1-Vibrating feeder first vibrating plate limit plate, 2.5.1. 1-Protrusion of the first vibrating plate limiting plate for vibrating material; 2.6-First vibrator for vibrating material; 2.7-Second vibrator for vibrating material; 2.8-Second vibrating plate for vibrating material; 2.8.1-Limiting plate of the second vibrating plate for vibrating material; 2.8.1.1-Protrusion of the limiting plate of the second vibrating plate for vibrating material; 2.9-Limiting groove of the first vibrating plate for vibrating material; 2.10-Limiting groove of the second vibrating plate for vibrating material; 3-Electrical box; 3.1-PLC controller; 3.2-First controller of the first robot arm; 3.3-Second controller of the first robot arm; 3.4-Third controller of the first robot arm; 3.5-Fourth controller of the first robot arm; 3.6-Grip conveyor motor controller; 3.7-Return conveyor motor controller; 3.8- 3.9-Second Robot Arm First Controller, 3.10-Second Robot Arm Third Controller, 3.11-Second Robot Arm Fourth Controller, 3.12-Product Storage and Conveying Motor Controller, 3.13-Vibrating Inner Material Hopper Vibrator Controller, 3.14-Vibrating Inner Material First Vibrator Controller, 3.15-Vibrating Inner Material Second Vibrator Controller, 4-Industrial Camera, 5-Touch Screen, 6-Product Gripping and Conveying Device, 6.1-Gripping Conveying Frame, 6.2-Gripping Conveying Drive Roller, 6.3-Gripping Conveying Motor, 6.4-Gripping Conveying Gearbox, 6.5-Gripping Conveying Passive Roller, 6.6-Gripping Conveying Belt, 6.7-Gripping Conveying Belt Limiting Strip, 6.8-Gripping Conveying 7-Conveyor belt limiting groove, 7-First robotic arm, 7.1-First robotic arm connecting plate, 8-First integrated vacuum generator, 81-First and second integrated vacuum generator, 82-First and third integrated vacuum generator, 8.1-Vacuum pressure switch, 8.2-Vacuum pilot valve, 8.3-Destructive pilot valve, 8.4-Vacuum solenoid valve, 8.4.1-Vacuum solenoid valve coil, 8.4.2-Vacuum solenoid valve stationary iron core, 8.4.3-Vacuum solenoid valve moving iron core, 8.4.4-Vacuum solenoid valve spring, 8.4.5-Vacuum solenoid valve slide, 8.4.6-Vacuum solenoid valve valve, 8.4.7-Vacuum solenoid valve chamber, 8.4.8-Vacuum solenoid valve inlet, 8.4.9-Vacuum solenoid valve outlet, 8.4.10 - Vacuum solenoid valve outlet pipe; 8.5 - Damage to the solenoid valve; 8.5.1 - Damage to the solenoid valve coil; 8.5.2 - Damage to the stationary iron core of the solenoid valve; 8.5.3 - Damage to the moving iron core of the solenoid valve; 8.5.4 - Damage to the solenoid valve spring; 8.5.5 - Damage to the solenoid valve slide; 8.5.6 - Damage to the solenoid valve valve body; 8.5.7 - Damage to the solenoid valve valve chamber; 8.5.8 - Damage to the solenoid valve inlet; 8.5.9 - Damage to the solenoid valve outlet; 8.5.10 - Damage to the solenoid valve outlet pipe; 8.6 - Damage to the flow control valve; 8.7 - Inlet nozzle; 8.8 - Connect to the inlet filter; 8.9 - Inlet channel; 8.10 - Silencer; 8.11 - Vacuum nozzle; 8.12 - Vacuum filter chamber; 8.13 - Vacuum filter. 8.14 - Second check valve; 8.15 - Vacuum chamber; 8.16 - First check valve; 8.17 - Vacuum generating tube; 8.17.1 - Vacuum generating tube inlet; 8.17.2 - First stage vacuum generating tube; 8.17.3 - First stage vacuum generating tube inlet pipe; 8.17.4 - Second stage vacuum generating tube; 8.17.5 - Second stage vacuum generating tube inlet pipe; 8.17.6 - Vacuum generating tube outlet; 8.18 - Vacuum generating tube inlet channel; 8.19 - Housing; 8.20 - Vacuum sensor; 9 - First cylinder solenoid valve; 91 - First and second cylinder solenoid valves; 92 - First and third cylinder solenoid valves; 10 - First cylinder bracket; 11 - First suction head connector; 111 - First and second suction head connectors; 112 - 12-First Cylinder 1, 121-First Cylinder 2, 122-First Cylinder 3, 13-First Cylinder 1, 131-First Cylinder 2, 132-First Cylinder 3, 14-Second Robotic Arm, 14.1-Second Robotic Arm Connecting Plate, 15-Second Integrated Vacuum Generator, 151-Second Integrated Vacuum Generator, 152-Second Integrated Vacuum Generator, 16-Second Cylinder 1 Solenoid Valve, 161-Second Cylinder 2 Solenoid Valve, 162-Second Cylinder 3 Solenoid Valve, 17-Second Cylinder Frame, 18-Second Cylinder 1, 181-Second Cylinder 2, 182-Second Cylinder 3, 19-Second Cylinder 1 Connector, 191-Second Cylinder 2 Connector, 192-Second Cylinder 3 Connector, 2 0-Second suction head, 201-Second suction head, 202-Second and third suction heads, 21-Product stretch film packaging device, 21.1-Stretch film packaging rack, 21.2-Stretch film packaging drive roller, 21.3-Stretch film packaging motor, 21.4-Stretch film packaging gearbox, 21.5-Stretch film packaging passive roller, 21.6-Stretch film packaging transmission belt, 21.7-Stretch film packaging film cavity, 21.8-Stretch film packaging PLC controller, 21.9-Stretch film packaging motor controller, 21.10-First swing plate sensor, 21.11-Second swing plate sensor, 22-Air tank, 23-Air pump motor, 24-Air pump, 25-Frame, 26-Triple filter, 27-Product return conveyor device, 27.1-Return conveyor frame; 27.1.1-Return conveyor frame transverse section; 27.1.2-Return conveyor frame curved section; 27.1.3-Return conveyor frame longitudinal section; 27.1.4-Return conveyor frame rising section; 27.1.5-Return conveyor frame side plate; 27.2-Return conveyor hopper; 27.3-Return conveyor motor; 27.4-Return conveyor gearbox; 27.5-Return conveyor drive roller; 27.5.1-Return conveyor drive tooth; 27.6-Return conveyor driven roller; 27.6.1-Return conveyor driven tooth; 27.7-Curved conveyor chain; 27.7.1-Chain plate 27.7.1.1 - Bending section of chain plate frame; 27.7.1.2 - Connecting section of chain plate frame; 27.7.1.3 - Upright plate of chain plate frame; 27.7.1.4 - Chain pin sleeve of chain plate frame; 27.7.1.5 - Chain pin hole of chain plate frame; 27.7.1.6 - Horizontal long slot of chain plate frame; 27.1.7 - Chain plate surface; 27.1.8 - Chain plate surface scraper; 27.1.9 - Chain plate slide; 27.1.10 - Upright plate support plate of chain plate frame; 27.7.2 - Chain pin; 27.7.3 - Chain sleeve; 27.8 - Return conveyor support leg; 27.9 - Return conveyor outlet. Detailed Implementation

[0031] Example 1: As shown in the attached document Figure 1-23As shown, the fully automatic ham sausage tray-stacking system includes a product storage and conveying device 1, which stores and conveys products to be trayed. The product storage and conveying outlet 1.8 corresponds to the vibrating material hopper 2.3 of the product vibrating material hopper 2. The product vibrating material hopper 2 gradually flattens and widens the product spacing of the products from the product storage and conveying device 1 through vibration, arranging the products in a consistent direction. The left end of the second vibrating plate 2.8 of the vibrating material hopper corresponds to the gripping conveyor belt 6.6 of the product gripping conveyor 6. An industrial camera 4 is installed above the gripping conveyor belt 6.6 to identify the products on the gripping conveyor belt and record their positions. The industrial camera of this invention: when the product moves below the industrial camera, the PLC controller controls the industrial camera... The industrial camera operates by identifying and capturing products on the conveyor belt, recording their positions, and transmitting this information to the PLC controller, thus automating product photography. A product gripping and conveying device continuously transports products to the gripping area of ​​the robotic arm. A product stretch film packaging device 21 is positioned parallel to and close to the product gripping and conveying device 6. This device places the products gripped by the robotic arm from the conveyor belt 6.6 into the stretch mold cavity 21.7 for packaging. A first robotic arm 7 is mounted on the frame above the product gripping and conveying device 6 and the product stretch film packaging device 21. A first robotic arm gripper is mounted at the lower end of the first robotic arm, including a first robotic arm connecting plate 7.1 and a first integrated circuit mounted on the frame 25. The integrated vacuum generator 8, the first cylinder solenoid valve 9, and the first manipulator connecting plate 7.1 are connected to the first cylinder frame 10. The first cylinder 12 is mounted on the first cylinder frame 10. The end of the guide rod of the first cylinder 12 is equipped with a first suction head connector 11. The air outlet of the first suction head connector 11 is connected to the vacuum nozzle 8.11 of the first integrated vacuum generator, and the air inlet of the first suction head connector 11 is connected to the first suction head 13. The first suction head 13 is made of silicone material and is a corrugated suction head. The frame 25 is also equipped with a product return conveying device 27, a triple filter 26, an air tank 22, a touch screen 5, and an electrical box 3. The air tank 22 is connected to the air pump 24 and the triple filter 26 respectively. The touch screen is used to adjust the ham sausage manipulator. The operating parameters of the fully automatic tray-stacking system are as follows: the air pump 24 is connected to the air pump motor 23; the triple filter 23 is connected to the air inlet of the first integrated vacuum generator 8 and the air inlet of the first cylinder solenoid valve 9; the vacuum nozzle 8.11 of the first integrated vacuum generator 8 is connected to the air inlet of the first suction head connector 11; the air outlet of the first cylinder solenoid valve 9 is connected to the first cylinder 12; the left end of the gripping conveyor belt 6.6 corresponds to the return conveyor hopper 27.2 of the product return conveyor device 27, which returns the ungrabbed products to the vibrating feed hopper 2.3; the PLC controller 3.1 installed in the electrical box 3 is connected to the first controller 3.2 and the second controller 3 of the first robot arm.3. First robotic arm third controller; 3.4. First robotic arm fourth controller; 3.5. First integrated vacuum generator; 8. First cylinder solenoid valve; 9. Industrial camera; 4. Gripping and conveying motor controller; 3.6. Return conveying motor controller; 3.7. Touch screen; 5. Stretch film packaging PLC controller; 21.8 Electrical connections.

[0032] Embodiment 1 of this utility model employs a PLC controller to control a first integrated vacuum generator and a first and second solenoid valve. The robotic arm, through a preset program, automatically identifies the shape and position of the sausage. After the suction head makes close contact with the product, a vacuum is generated, the suction head holds the product tightly, the vacuum is maintained, the suction head remains in a tight state, the product moves to the tray, the vacuum is broken, the suction head releases the product, and returns to its position to perform the next round of gripping. This accurately and flawlessly grips the sausage and places it into the stretch film packaging cavity, realizing fully automatic tray placement of sausages, sausages, grilled sausages, and other products by the robotic arm, reducing labor costs and improving work efficiency.

[0033] The robotic gripper of this utility model employs a PLC controller to control the solenoid valve of the first cylinder, causing the guide rod of the first cylinder on the first cylinder frame to shorten. The guide rod of the first cylinder lifts the product through the first suction head. The PLC controller controls the first robotic arm connecting plate, which moves above the stretch film packaging cavity, through the first, second, third, and fourth controllers of the first robotic arm. The PLC controller also controls the solenoid valve of the first cylinder to extend the guide rod of the first cylinder on the first cylinder frame. The guide rod of the first cylinder lifts the product into the stretch film packaging cavity through the first suction head, thus automating the product movement and tray placement.

[0034] The mechanical gripper of this utility model has a suction head made of silicone material. On irregular or slightly rough surfaces, especially on the surfaces of ham sausages, sausages, and grilled sausages, the silicone suction cup, with its higher flexibility and deformation ability, can better fit the tiny bumps and depressions of the surface, reduce air leakage, and thus maintain a more stable and lasting suction force.

[0035] The robotic gripper of this utility model features a corrugated suction head, which is well-suited for products with uneven surfaces such as ham sausages, sausages, and grilled sausages. During suction, it achieves lifting effect, height difference compensation, and gentle contact and suction of fragile products.

[0036] Preferably, the product vibrating lining device 2 includes a vibrating lining frame 2.1 mounted on the upper surface of the electrical box 3. The vibrating lining frame 2.1 is equipped with a vibrating lining hopper vibrator 2.2, a first vibrating lining vibrator 2.6, and a second vibrating lining vibrator 2.7. A vibrating lining hopper 2.3 is connected to the vibrating lining hopper vibrator 2.2, and a vibrating lining grid 2.4 is mounted on the bottom surface of the vibrating lining hopper 2.3. A first vibrating lining plate 2.5 is mounted on the first vibrating lining vibrator 2.6, with the upper right end of the first vibrating lining plate 2.5 corresponding to the left end of the vibrating lining grid 2.4. A second vibrating lining plate 2.8 is mounted on the second vibrating lining vibrator 2.7, with the upper right end of the second vibrating lining plate 2.8 corresponding to the left end of the first vibrating lining plate 2.5. The upper surface of the first vibrating lining plate 2.5 is equipped with a vibrating lining first... The vibrating plate limiting plate 2.5.1 has a mountain-shaped protrusion 2.5.1.1 on its upper end, and a vibrating plate limiting groove 2.9 is formed between adjacent vibrating plate limiting plates 2.5.1. The upper surface of the second vibrating plate 2.8 has a second vibrating plate limiting plate 2.8.1, and a mountain-shaped protrusion 2.8.1. A vibrating plate limiting groove 2.10 is formed between adjacent second vibrating plate limiting plates 2.8.1. The PLC controller 3.1 is electrically connected to the vibrating hopper vibrator controller 3.13, the first vibrator controller 3.14, and the second vibrator controller 3.15. This utility model's product vibration lining device uses a PLC controller to control the vibration lining hopper vibrator controller, the first vibration lining vibrator controller, and the second vibration lining vibrator controller, enabling the vibration lining hopper vibrator, the first vibration lining vibrator, and the second vibration lining vibrator to operate. The vibration lining hopper vibrator drives the vibration lining hopper to vibrate, the first vibration lining vibrator drives the first vibration lining plate to vibrate, and the second vibration lining vibrator drives the second vibration lining plate to vibrate. Under the combined action of vibration, the first vibration plate limiting plate, and the second vibration plate limiting plate, the product gradually flattens and the product spacing is widened. The product is then aligned in the same direction within the first vibration plate limiting groove and slides off the left end of the second vibration lining plate onto the gripping and conveying conveyor belt of the product gripping and conveying device, thus realizing the automation of product vibration lining.

[0037] Preferably, the product storage and conveying device 1 includes a product storage and conveying support leg 1.1, a product storage and conveying frame 1.2 is mounted on the support leg 1.1, and a product storage and conveying drive roller 1.10 and a product storage and conveying passive roller 1.3 are rotatably connected to both ends of the product storage and conveying frame 1.2. A product storage and conveying drive belt 1.4 is connected between the product storage and conveying drive roller 1.10 and the product storage and conveying passive roller 1.3. The product storage and conveying drive roller 1.10 is connected to the product storage and conveying reduction gearbox 1.6. The product storage conveying reduction gearbox 1.6 is connected to the product storage conveying motor 1.9. A product storage conveying hopper 1.5 and a product storage conveying photoelectric switch 1.7 are installed on the product storage conveying frame 1.2. The product storage conveying photoelectric switch 1.7 is electrically connected to the PLC controller 3.1 and corresponds to the vibrating material hopper 2.3 of the vibrating material feeding device 2. The PLC controller 3.1 is electrically connected to the product storage conveying motor controller 3.12. A product storage conveying outlet 1.8 is located at the left end of the product storage conveying frame 1.2. This utility model's product storage conveying device uses a product storage conveying photoelectric switch to send a signal to the PLC controller. The PLC controller controls the product storage conveying motor controller to operate the product storage conveying motor. The product storage conveying motor drives the product storage conveying active roller to rotate through the product storage conveying reduction gearbox. The active roller drives the product storage conveying transmission belt to rotate around the passive roller. The product is carried into the product storage conveying hopper by the product storage conveying transmission belt. This structural design realizes the automation of product storage conveying.

[0038] Preferably, the product gripping and conveying device 6 includes a gripping and conveying frame 6.1 connected to the frame 25. The gripping and conveying frame 6.1 is rotatably connected to a gripping and conveying active roller 6.2 and a gripping and conveying passive roller 6.5 at both ends. A gripping and conveying transmission belt 6.6 is connected between the gripping and conveying active roller 6.2 and the gripping and conveying passive roller 6.5. The gripping and conveying active roller 6.2 is connected to a gripping and conveying reduction gearbox 6.4. The gripping and conveying reduction gearbox 6.4 is connected to a gripping and conveying motor 6.3. The gripping and conveying motor 6.3 is electrically connected to a gripping and conveying motor controller 3.6. A gripping and conveying limiting strip 6.7 is provided on the gripping and conveying transmission belt 6.6. A gripping and conveying limiting groove 6.8 is formed between adjacent gripping and conveying limiting strips 6.7. The gripping and conveying limiting groove 6.8 corresponds to the left and right limiting groove 2.10 of the second vibrating plate of the vibrating material. This utility model's product gripping and conveying device employs a PLC controller to control the gripping and conveying motor, which in turn controls the gripping and conveying motor through a gripping and conveying gearbox. The gripping and conveying motor then drives the gripping and conveying drive belt to rotate around the gripping and conveying passive roller. This structural design enables the product to move continuously from right to left via the gripping and conveying drive belt, thus achieving automated product gripping and conveying.

[0039] Preferably, the product stretch film packaging device 21 includes a stretch film packaging frame 21.1 connected to a frame 25. A first tray sensor 21.10 and a second tray sensor 21.11 are provided on the side of the stretch film packaging frame 21.1. A stretch film packaging active roller 21.2 and a stretch film packaging passive roller 21.5 are rotatably connected to both ends of the stretch film packaging frame 21.1. A stretch film packaging transmission belt 21.6 is connected between the stretch film packaging active roller 21.2 and the stretch film packaging passive roller 21.5. The stretch film packaging active roller 21.2 is connected to the stretch film packaging reduction gearbox 21.4. The stretch film packaging reduction gearbox 21.4 is connected to the stretch film packaging motor 21.3. The stretch film packaging motor 21.3 is electrically connected to the stretch film packaging motor controller 21.9. The stretch film packaging motor controller 21.9 is electrically connected to the stretch film packaging PLC controller 21.8. A stretch film packaging cavity 21.7 is provided on the stretch film packaging transmission belt 21.6. This utility model relates to a product stretch film packaging device. Simultaneously, while returning to its original position for the next round of gripping, a PLC controller controls the stretch film packaging PLC controller. The stretch film packaging PLC controller, through the stretch film packaging motor controller, causes the stretch film packaging motor to operate. The stretch film packaging motor, via a stretch film packaging gearbox, drives the stretch film packaging active roller to rotate. The active roller then drives the stretch film packaging transmission belt to rotate around the passive roller, stepping one notch. This design automates the stepping of the stretch film packaging transmission belt.

[0040] Preferably, the product return conveying device 27 includes a return conveying frame 27.1 connected to the frame 25. The return conveying frame 27.1 includes two connected return conveying frame side plates 27.1.5. The upper and lower parts of the inner side of the return conveying frame side plates 27.1.5 are provided with return conveying frame side plate slide rails 27.1.5.1. The return conveying frame 27.1 includes a return conveying frame transverse part 27.1.1, a return conveying frame curved part 27.1.2, a return conveying frame longitudinal part 27.1.3, and a return conveying frame rising part 27.1.4. The return conveying frame transverse part 27.1.1 is connected to the return conveying frame longitudinal part 27.1.3 through the return conveying frame curved part 27.1.2. The return conveying frame longitudinal part 27.1.3 is connected to the return conveying frame rising part 27.1.4. .1.4 Connection: A return conveying hopper 27.2 is provided on the upper end face of the transverse part 27.1.1 of the return conveying frame; a return conveying frame support leg 27.8 is provided on the rising part 27.1.4 of the return conveying frame; a return conveying passive roller 27.6 is rotatably connected to the starting end of the transverse part 27.1.1 of the return conveying frame; a return conveying passive tooth 27.6.1 is provided on the return conveying passive roller 27.6; a return conveying outlet 27.9 is provided at the tail end of the rising part of the return conveying frame and is rotatably connected to the return conveying active roller 27.5; a return conveying active tooth 27.5.1 is provided on the return conveying active roller 27.5; the return conveying active roller 27.5 is driven by the return conveying reduction gearbox 27.4; the return conveying reduction gearbox 27.4 is driven by the return conveying motor 27.3. The return conveyor motor 27.3 is electrically connected to the return conveyor motor controller 3.7; the return conveyor drive roller 27.5 and the return conveyor passive roller 27.6 are connected by a turning conveyor chain 27.7. The turning conveyor chain 27.7 includes a chain pin 27.7.2, a chain sleeve 27.7.3, and multiple chain plates 27.7.1 that can be turned and connected. The chain plate 27.7.1 includes a chain plate frame arc portion 27.7.1.1. The chain sleeve 27.7.3 is rotatably connected to the inner circle of the chain plate arc portion 27.7.1.1. The front and rear sides are provided with horizontal long slots 27.7.1.6 of the chain plate frame; the chain plate frame arc portion 27.7.1.1 is connected to the chain plate frame upright plate 27.7.1.3 through the chain plate frame connecting portion 27.7.1.2. A support plate 27.7.1.10 connects the link 27.7.1.2 to the link 27.7.1.3. Chain pin sleeves 27.7.1.4 are symmetrically arranged on the outer side of the link 27.7.1.3, and chain pin holes 27.7.1.5 are provided on the chain pin sleeves 27.7.1.4. One chain plate arc portion 27.7.1.1 can be rotatably engaged with another link 27.7.1.3. The chain pin 27.7.2 passes through the chain pin hole 27.7.1.5, the horizontal long slot 27.7.1.6, and the chain sleeve 27.7.3. The upper end of the link 27.7.1.3 is connected to the chain plate surface 27.7.1.7 and the chain plate surface 27.7.1.7. A chain plate scraper 27.7.1.8 is horizontally arranged on the upper surface, and the ends of the chain plate surfaces 27.7.1.7 can rotate relative to each other; the lower surface of the chain plate surface 27.7.1.7 and the chain pin sleeve 27.7.1.4 of the chain plate frame form a chain plate slide 27.7.1.9, which is slidably connected to the slide rail 27.1.5.1 of the side plate of the return conveyor frame. This utility model's product return conveying device uses a PLC controller to control the return conveyor motor through a return conveyor motor controller. The return conveyor motor drives the return conveyor drive roller to rotate through the return conveyor reduction gearbox. The return conveyor drive roller drives the turning conveyor chain to slide along the return conveyor frame. The chain plate scrapers on the turning conveyor chain carry the product from the return conveyor hopper to the return conveyor outlet, where it slides into the vibrating feed hopper. This structural design realizes the automation of product return conveying.

[0041] Preferably, the first integrated vacuum generator includes a housing 8.19. A vacuum pressure switch 8.1 is connected to the left side of the housing 8.19. A vacuum pilot valve 8.2 and a breaker pilot valve 8.3 are connected to the upper end of the housing 8.19. A vacuum solenoid valve 8.4 is disposed below the vacuum pilot valve 8.2, and the outlet 8.4.9 of the vacuum solenoid valve is connected to the outlet pipe 8.4.10 of the vacuum solenoid valve. A breaker solenoid valve 8.5 is disposed below the breaker pilot valve 8.3; the outlet 8.5.9 of the breaker solenoid valve is connected to the outlet pipe 8.5.10 of the breaker solenoid valve. A breaker flow regulating valve 8.6 and an air inlet 8.7 are connected from top to bottom to the right side of the housing 8.19. Vacuum nozzle 8.11; The flow control valve 8.6 is threadedly connected to the housing 8.19, with its end inserted into the outlet pipe 8.5.10 of the solenoid valve; the rear end of the inlet nozzle 8.1 is connected to the inlet filter 8.8, which is connected to the inlet channel 8.9. The inlet channel 8.9 is connected to the inlet port 8.4.8 of the vacuum solenoid valve and the inlet port 8.5.8 of the solenoid valve; a vacuum generating tube 8.17 is installed in the middle of the housing 8.19; a vacuum filter chamber 8.12 and a vacuum chamber 8.15 are installed at the bottom of the housing 8.19; a vacuum filter 8.13 is installed inside the vacuum filter chamber 8.12, and the vacuum filter 8.13 is connected to the vacuum... Vacuum chamber 8.15 is connected to vacuum nozzle 8.11; vacuum sensor 8.20 is installed inside vacuum nozzle 8.11; vacuum chamber 8.15 is connected to the exhaust pipe 8.5.10 of the solenoid valve and vacuum pressure switch 8.1 respectively; a first one-way valve 8.16 and a second one-way valve 8.14 are installed on the housing 8.19 above vacuum chamber 8.15; vacuum generating tube 8.17 is connected from left to right to vacuum generating tube inlet 8.17.1, first-stage vacuum generating tube 8.17.2, second-stage vacuum generating tube 8.17.4, and vacuum generating tube outlet 8.17.6, and vacuum generating tube outlet 8.17.6 is connected to silencer 8. .10 Connection; The vacuum generating tube inlet 8.17.1 is connected to the vacuum generating tube inlet channel 8.18, and the vacuum generating tube inlet channel 8.18 is connected to the vacuum solenoid valve outlet pipe 8.4.10; The first-stage vacuum generating tube inlet pipe 8.17.3 is provided on the housing 8.19 below the first-stage vacuum generating tube 8.17.2, and the first-stage vacuum generating tube inlet pipe 8.17.3 is connected to the first one-way valve 8.16; The second-stage vacuum generating tube inlet pipe 8.17.5 is provided on the housing 8.19 below the second-stage vacuum generating tube 8.17.4, and the second-stage vacuum generating tube inlet pipe 8.17.5 is connected to the second one-way valve 8.14.

[0042] Preferably, the vacuum solenoid valve 8.4 includes a stationary iron core 8.4.2 and a valve chamber 8.4.7. A vacuum solenoid coil 8.4.1 is arranged circumferentially around the stationary iron core 8.4.2, and the coil 8.4.1 is electrically connected to the vacuum pilot valve 8.2. A vacuum solenoid slide 8.4.5 is arranged at the center of the end face of the stationary iron core 8.4.2, and a moving iron core 8.4.3 and a vacuum solenoid valve are slidably connected to the slide 8.4.5. Vacuum solenoid valve 8.4.6, the moving iron core 8.4.3 of the vacuum solenoid valve is connected to the vacuum solenoid valve 8.4.6, the vacuum solenoid valve slide 8.4.5 between the moving iron core 8.4.3 and the stationary iron core 8.4.2 of the vacuum solenoid valve is fitted with a vacuum solenoid valve spring 8.4.4 and the two are elastically connected; the vacuum solenoid valve 8.4.6 is slidably connected to the vacuum solenoid valve chamber 8.4.7 and is sealed to the vacuum solenoid valve inlet 8.8.8 and the vacuum solenoid valve outlet 8.4.9;

[0043] Preferably, the disruptive solenoid valve 8.5 includes a stationary solenoid valve core 8.5.2 and a valve chamber 8.5.7. A disruptive solenoid valve coil 8.5.1 is arranged circumferentially around the stationary solenoid valve core 8.5.2, and the coil 8.5.1 is electrically connected to the disruptive pilot valve 8.3. A disruptive solenoid valve slide 8.5.5 is arranged at the center of the end face of the stationary solenoid valve core 8.5.2, and a moving solenoid valve core 8.5.3 and a disruptive solenoid valve are slidably connected to the slide 8.5.5. Valve 8.5.6, the moving iron core 8.5.3 of the destructive solenoid valve is connected to the destructive solenoid valve 8.5.6, the destructive solenoid valve spring 8.5.4 is fitted on the destructive solenoid valve slide column 8.5.5 between the moving iron core 8.5.3 of the destructive solenoid valve and the stationary iron core 8.5.2 of the destructive solenoid valve, and the two are elastically connected; the destructive solenoid valve 8.5.6 is slidably connected to the destructive solenoid valve valve cavity 8.5.7 and is sealed to the destructive solenoid valve inlet 8.5.8 and the destructive solenoid valve outlet 8.5.9.

[0044] This utility model's integrated vacuum generator: A vacuum sensor inside the vacuum nozzle transmits the pressure within the vacuum chamber to a vacuum pressure switch. When the vacuum pressure switch measures that the pressure within the vacuum chamber is lower than the lower limit of a preset pressure range, the vacuum pressure switch opens, controlling the vacuum pilot valve to open and pressurize the vacuum chamber. Conversely, when the vacuum pressure switch measures that the pressure within the vacuum chamber is higher than the upper limit of a preset pressure range, the PLC controller controls the vacuum pressure switch to close, and the vacuum pressure switch controls the vacuum pilot valve to shut off. This ensures that the pressure within the vacuum chamber remains within the set range, keeping the first suction head in a tight suction state, preventing the adsorbed product from falling off, and significantly reducing the consumption of positive pressure air.

[0045] This utility model discloses an integrated vacuum generator that integrates a vacuum pressure switch, a vacuum pilot valve, a rupture pilot valve, a rupture solenoid valve, a vacuum filter, a vacuum chamber, a vacuum generating tube, and a silencer into one unit. It can achieve multiple functions such as close contact between the vacuum generator's suction head and the product, generating a vacuum, the suction head gripping the product, maintaining the vacuum and keeping the suction head in a gripping state, moving and arranging the product on the tray, rupturing the vacuum, releasing the product from the suction head, and returning to its position for the next round of gripping.

[0046] The integrated vacuum generator of this utility model features a disruption flow regulating valve. By rotating the disruption flow regulating valve, the flow area of ​​the disruption solenoid valve outlet pipe is adjusted to control the speed of vacuum disruption, thereby achieving the regulation of the disruption flow.

[0047] The integrated vacuum generator of this utility model adopts a structural design in which a first one-way valve and a second one-way valve are installed on the shell above the vacuum chamber; the inlet pipe of the first-stage vacuum generating tube is connected to the first one-way valve; and the inlet pipe of the second-stage vacuum generating tube is connected to the second one-way valve. When the gas supply is stopped, it can maintain a working pressure in its vacuum chamber.

[0048] The fully automated ham sausage plating system using a robotic arm includes the following steps:

[0049] Step 1, Power on: Connect the power supply, the air pump motor 23 drives the air pump 24 to work, and the air tank 22 reaches the preset air pressure;

[0050] Step 2, Product Conveying: When the photoelectric switch 1.7 senses that the product level in the product storage conveying hopper 1.5 is lower than the set amount, it sends a signal to the PLC controller 3.1. The PLC controller 3.1 then controls the product storage conveying motor controller 3.12 to operate the product storage conveying motor 1.9. The product storage conveying motor 1.9 drives the product storage conveying drive roller 1.10 to rotate via the product storage conveying reduction gearbox 1.6. The drive roller 1.10 drives the product storage conveying transmission belt 1.4 to rotate around the product storage conveying passive roller 1.3, and the product is carried into the product storage conveying hopper 1.5 by the transmission belt 1.4. When the photoelectric switch 1.7 senses that the product level in the product storage conveying hopper 1.5 is higher than the set amount, it sends a signal to the PLC controller 3.1, which then controls the product storage conveying motor controller 3.12 to stop the product storage conveying motor 1.9 from operating.

[0051] Step 3, Product Vibration Liner: The PLC controller 3.1 controls the vibrating lining hopper vibrator controller 3.13, the first vibrating lining vibrator controller 3.14, and the second vibrating lining vibrator controller 3.15 respectively, causing the vibrating lining hopper vibrator 2.2, the first vibrating lining vibrator 2.6, and the second vibrating lining vibrator 2.7 to operate. The vibrating lining hopper vibrator 2.2 drives the vibrating lining hopper 2.3 to vibrate, and the first vibrating lining vibrator 2.6 drives the first vibrating plate 2.5 of the vibrating lining. Vibration occurs when the second vibrator 2.7 of the vibrating lining material drives the second vibrating plate 2.8 of the vibrating lining material to vibrate. Under the combined action of vibration, the first vibrating plate limiting plate 2.5.1, and the second vibrating plate limiting plate 2.8.1, the products are gradually flattened and the product spacing is widened. The products are then aligned in the same direction within the first vibrating plate limiting groove 2.9 and the first vibrating plate limiting groove 2.10 of the vibrating lining material, and slide off at the left end of the second vibrating plate 2.8 of the vibrating lining material onto the gripping conveyor belt 6.6 of the product gripping conveyor device 6.

[0052] Step 4, Product gripping and conveying: PLC controller 3.1 controls gripping and conveying motor 6.3 to work through gripping and conveying motor controller 3.6. Gripping and conveying motor 6.3 drives gripping and conveying drive roller 6.2 to rotate through gripping and conveying reduction gearbox 6.4. Gripping and conveying drive roller 6.2 drives gripping and conveying transmission belt 6.6 to rotate around gripping and conveying passive roller 6.5. The product moves continuously from right to left through gripping and conveying transmission belt 6.6.

[0053] Step 5, Product Photography: When the product moves under the industrial camera 4, the PLC controller 3.1 controls the industrial camera 4 to work. The industrial camera 4 identifies and grabs the product on the conveyor belt 6.6 and records the product position, which is then transmitted to the PLC controller 3.1.

[0054] Step 6, Product Grabbing: The gripping conveyor belt 6.6 continuously transports the product to the gripping area of ​​the first robotic arm;

[0055] Step 6.1: The suction head makes close contact with the product: Based on the product position recorded by the industrial camera 4, the PLC controller 3.1 controls the first robot arm connecting plate 7.1 to move above the product through the first robot arm controller 3.2, the first robot arm controller 3.3, the first robot arm controller 3.4, and the first robot arm controller 3.5; the PLC controller 3.1 controls the first cylinder solenoid valve 9 to extend the guide rod of the first cylinder 12 on the first cylinder frame 10, and the guide rod of the first cylinder 12 drives the first suction head 13 to make close contact with the upper surface of the product;

[0056] Step 6.2: Generating a vacuum and clamping the product with the suction head: The vacuum sensor 8.20 inside the vacuum nozzle 8.11 transmits the pressure inside the vacuum chamber 8.15 to the vacuum pressure switch 8.1. When the vacuum pressure switch 8.1 measures that the pressure inside the vacuum chamber 8.15 is lower than the lower limit of the preset pressure range, the PLC controller 3.1 controls the pilot valve 8.3 to close and the vacuum pressure switch 8.1 to open. The vacuum pressure switch 8.1 then controls the vacuum pilot valve 8.2 to be energized and opened; the vacuum pilot valve 8.2... The electric opening includes energizing the vacuum pilot valve 8.2, which controls the vacuum solenoid valve 8.4. This energizes the vacuum solenoid valve coil 8.4.1, generating current and causing the stationary iron core 8.4.2 of the vacuum solenoid valve to generate an attractive force. The attractive force of the stationary iron core 8.4.2 causes the moving iron core 8.4.3 of the vacuum solenoid valve to overcome the elastic force of the vacuum solenoid valve spring 8.4.4 and slide to the left along the vacuum solenoid valve slide column 8.4.5. The moving iron core 8.4.3 then drives the vacuum solenoid valve valve 8.4.6 to slide to the left, opening the vacuum solenoid valve inlet 8. 8.8 and 8.4.9 are connected; compressed air flows sequentially from the inlet 8.7, inlet channel 8.9, vacuum solenoid valve inlet 8.8.8, vacuum solenoid valve outlet 8.4.9, vacuum solenoid valve outlet pipe 8.4.10, vacuum generator pipe inlet channel 8.18, vacuum generator pipe inlet 8.17.1, first-stage vacuum generator pipe 8.17.2, second-stage vacuum generator pipe 8.17.4, and vacuum generator pipe outlet 8.17.6, and is discharged through the silencer 8.10. When compressed air flows at high speed through the first-stage vacuum generating tube 8.17.2 and the second-stage vacuum generating tube 8.17.4, it generates negative pressure. This negative pressure is drawn from the vacuum chamber 8.15 through the first-stage vacuum generating tube inlet pipe 8.17.3 and the first one-way valve 8.16, and the second-stage vacuum generating tube inlet pipe 8.17.5 and the second one-way valve 8.14, causing the vacuum nozzle 8.11 to generate negative pressure. The negative pressure generated by the vacuum nozzle 8.11 is then drawn into the product through the air inlet of the first suction head connector 11 and the first suction head 13.

[0057] Step 6.3, Vacuum Maintenance and Suction Head Suction: The vacuum sensor 8.20 inside the vacuum nozzle 8.11 transmits the pressure inside the vacuum chamber 8.15 to the vacuum pressure switch 8.1. When the vacuum pressure switch 8.1 measures that the pressure inside the vacuum chamber 8.15 is higher than the upper limit of the preset pressure range, the PLC controller 3.1 controls the vacuum pressure switch 8.1 to close, and the vacuum pilot valve 8.2 is de-energized and closed, so that the pressure inside the vacuum chamber 8.15 can be maintained within the set range, and the first suction head 13 remains in a suction state.

[0058] Step 6.4, Product movement and tray placement: PLC controller 3.1 controls the first cylinder solenoid valve 9 to shorten the guide rod of the first cylinder 12 on the first cylinder frame 10. The guide rod of the first cylinder 12 drives the product up through the first suction head 13. PLC controller 3.1 controls the first robot arm connecting plate 7.1 to move above the stretch film packaging cavity 21.7 through the first robot arm controller 3.2, first robot arm controller 3.3, first robot arm controller 3.4, and first robot arm controller 3.5. PLC controller 3.1 controls the first cylinder solenoid valve 9 to extend the guide rod of the first cylinder 12 on the first cylinder frame 10. The guide rod of the first cylinder 12 drives the product deeper into the stretch film packaging cavity 21.7 through the first suction head 13.

[0059] Step 6.5, Vacuum Destruction and Suction Head Product Release: When the first sway sensor 21.10 senses that the first suction head 13 has driven the product deeper into the stretch film packaging cavity 21.7, the first sway sensor 21.1 sends a signal to the PLC controller 3.1. The PLC controller 3.1 controls the destructive pilot valve 8.3 to be energized and opened. The energization and opening of the destructive pilot valve 8.3 includes the destructive pilot valve 8.3 controlling the destructive solenoid valve 8.5 to be energized, causing the destructive solenoid valve coil 8.5.1 to generate current, and causing the stationary iron core 8.5.2 of the destructive solenoid valve to generate a suction force. The suction force of the stationary iron core 8.5.2 of the destructive solenoid valve causes the moving iron core 8.5.3 of the destructive solenoid valve to overcome the elastic force of the spring 8.5.4 of the destructive solenoid valve. Slide the solenoid valve slide column 8.5.5 to the right. The moving iron core 8.5.3 of the solenoid valve drives the valve 8.5.6 of the solenoid valve to slide to the right, so that the air inlet 8.5.8 and the air outlet 8.5.9 of the solenoid valve are connected. Compressed air flows sequentially from the air inlet 8.7, the air inlet channel 8.9, the air inlet 8.5.8 of the solenoid valve, the air outlet 8.5.9 of the solenoid valve, the air outlet pipe 8.5.10 of the solenoid valve, the vacuum chamber 8.15, and the vacuum nozzle 8.11, so that the vacuum nozzle 8.11 generates a blowing force. The blowing force generated by the vacuum nozzle 8.11 blows the product quickly away through the air inlet of the first suction head connector 11 and the first suction head 13. The product is then placed into the stretch film packaging cavity 21.7.

[0060] Step 6.6, Return to position for the next round of gripping: PLC controller 3.1 controls the solenoid valve 9 of the first cylinder to shorten the guide rod of the first cylinder 12 on the first cylinder frame 10. The guide rod of the first cylinder 12 drives the first suction head 13 to move above the product on the gripping conveyor belt 6.6; and the PLC controller 3.1 controls the first robot connecting plate 7.1 to move above the product on the gripping conveyor belt 6.6 through the first robot controller 3.2, the second robot controller 3.3, the third robot controller 3.4, and the fourth robot controller 3.5; and the next round of gripping operation begins.

[0061] Step 7, Stretch film packaging conveyor belt stepping: While returning to the position for the next round of gripping, PLC controller 3.1 controls stretch film packaging PLC controller 21.8. Stretch film packaging PLC controller 21.8, through stretch film packaging motor controller 21.9, causes stretch film packaging motor 21.3 to operate. Stretch film packaging motor 21.3, through stretch film packaging gearbox 21.4, drives stretch film packaging drive roller 21.2 to rotate. Stretch film packaging drive roller 21.2 drives stretch film packaging conveyor belt 21.6 to rotate around stretch film packaging driven roller 21.5, stepping one unit.

[0062] Step 8, Product Return Conveying: Products not held by the first suction head 13 on the gripping conveyor belt 6.6 fall into the return conveying hopper 27.2 at the left end of the gripping conveyor belt 6.6. The PLC controller 3.1 controls the return conveying motor 27.3 to work through the return conveying motor controller 3.7. The return conveying motor 27.3 drives the return conveying drive roller 27.5 to rotate through the return conveying reducer 27.4. The return conveying drive roller 27.5 drives the turning conveying chain 27.7 to slide along the return conveying frame 27.1. The chain plate scraper 27.7.1.8 on the turning conveying chain 27.7 carries the product from the return conveying hopper 27.2 to the return conveying outlet 27.9, from which it slides into the vibrating feed hopper 2.3.

[0063] Example 2: As shown in the attached document Figure 1-23As shown, Embodiment 2 is basically the same in structure as Embodiment 1, except that: the first robotic gripper also includes a first and second integrated vacuum generator 81, a first and third integrated vacuum generator 81, a first and second solenoid valve 91, and a first and third solenoid valve 92 mounted on the frame; the first cylinder frame 10 is also equipped with a first and second cylinder 121 and a first and third cylinder 122; the end of the guide rod of the first and second cylinder 121 is equipped with a first and second suction head connector 111, the outlet of the first and second suction head connector 111 is connected to the vacuum nozzle 8.11 of the first and second integrated vacuum generator, and the inlet of the first and second suction head connector 111 is connected to the first and second suction head 131; the end of the guide rod of the first and third cylinder 122 is equipped with a first and third suction head connector 112, the outlet of the first and third suction head connector 112 is connected to the vacuum nozzle 8.11 of the first and third integrated vacuum generator, and the first and third... The air inlet of suction head connector 112 is connected to the first and third suction heads 132; the triple filter 26 is connected to the air inlets of the first and second integrated vacuum generators 81, the first and third integrated vacuum generators 82, the first and second solenoid valves 91, and the first and third solenoid valves 92, respectively; the vacuum nozzle of the first and second integrated vacuum generator 81 is connected to the air inlet of the first and second suction head connector 131; the air outlet 91 of the first and second solenoid valves is connected to the first and second cylinders 121; the vacuum nozzle of the first and third integrated vacuum generator 82 is connected to the air inlet of the first and third suction head connector 132; the air outlet of the first and third solenoid valves 92 is connected to the first and third cylinders 122; the PLC controller 3.1 is electrically connected to the first and second integrated vacuum generators 81, 82, 91, and 92, respectively.

[0064] The fully automatic ham sausage traying system of Example 2 is basically the same as that of Example 1, except that: the PLC controller 3.1 controls the first and second integrated vacuum generators 81 and the first and second solenoid valves 91 to repeat steps 6.1 to 6.6 of Example 1; the PLC controller 3.1 controls the first and third integrated vacuum generators 82 and the first and third solenoid valves 92 to repeat steps 6.1 to 6.1 of Example 1; and the first suction head 13, the first and second suction head 131, and the first and third suction head 132 simultaneously pick up the products and place the three products into the stretch film packaging cavity 21.7.

[0065] Example 3: As shown in the attached document Figure 1-23As shown, Embodiment 3 is structurally similar to Embodiment 2, except that: a second robotic arm 14 is further provided on the frame 25 above the product gripping and conveying device 6 and the product stretch film packaging device 21. A second robotic arm gripper is provided at the lower end of the second robotic arm 14. The second robotic arm gripper includes a second robotic arm connecting plate 14.1, a second integrated vacuum generator 15, a second integrated vacuum generator 151, a second integrated vacuum generator 152, a second solenoid valve 16, a second solenoid valve 161, and a second solenoid valve 162, all mounted on the frame 25. The second robotic arm connecting plate 14.1 is connected to a second cylinder frame 17, and a second cylinder 18 and a second cylinder 19 are mounted on the second cylinder frame 17. Cylinder 181 and Cylinder 182 are connected to the second and third cylinders. The end of the guide rod of Cylinder 181 is equipped with a second suction head connector 19. The outlet of the second suction head connector 19 is connected to the vacuum nozzle 8.11 of the second integrated vacuum generator, and the inlet of the second suction head connector 19 is connected to the second suction head 20. Similarly, the end of the guide rod of Cylinder 181 is equipped with a second suction head connector 191. The outlet of the second suction head connector 191 is connected to the vacuum nozzle 8.11 of the second integrated vacuum generator, and the inlet of the second suction head connector 191 is connected to the second suction head 20. The end of the guide rod of Cylinder 182 is equipped with a second suction head connector 192. The outlet of the second suction head connector 192 is connected to the second integrated vacuum generator. The vacuum nozzle of generator 8.11 is connected, and the air inlet of the second and third suction head connector 192 is connected to the second and third suction head 202; the triple filter 26 is connected to the air inlets of the second integrated vacuum generator 15, the second integrated vacuum generator 151, the second and third integrated vacuum generator 152, the second solenoid valve 16, the second solenoid valve 161, and the second and third solenoid valve 162, respectively; the vacuum nozzle of the second integrated vacuum generator 15 is connected to the air inlet of the second suction head connector 19, and the air outlet of the second solenoid valve 16 is connected to the second cylinder 18; the vacuum nozzle of the second integrated vacuum generator 151 is connected to the air inlet of the second suction head connector 191. The air outlets are connected, and the outlet of the second solenoid valve 161 is connected to the second cylinder 181; the vacuum nozzle of the second integrated vacuum generator 152 is connected to the inlet of the second suction head connector 192, and the outlet of the second solenoid valve 162 is connected to the second cylinder 182; the PLC controller 3.1 is electrically connected to the first controller 3.8, the second controller 3.9, the third controller 3.10, the fourth controller 3.11 of the second robot, the second integrated vacuum generator 15, the second integrated vacuum generator 151, the second integrated vacuum generator 152, the first solenoid valve 16, the second solenoid valve 161, and the second solenoid valve 162.

[0066] The fully automatic ham sausage traying system of Example 3 is basically the same as that of Example 2, except that: PLC controller 3.1 controls the second integrated vacuum generator 15 and the second solenoid valve 16 to repeat steps 6.1 to 6.6 of Example 1; PLC controller 3.1 controls the second integrated vacuum generator 151 and the second solenoid valve 161 to repeat steps 6.1 to 6.6 of Example 1; PLC controller 3.1 controls the second and third integrated vacuum generator 152 and the second and third solenoid valve 162 to repeat steps 6.1 to 6.6 of Example 1; and the first suction head 13, the second suction head 20, the first and second suction heads 131, the second and second suction heads 2011, the first and third suction heads 132, and the second and third suction heads 202 simultaneously pick up the products and arrange the six products into the stretch film packaging cavity 21.7.

[0067] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A product pickup and conveying device for a fully automatic tray placing system of a ham sausage robot, characterized in that: The product gripping and conveying device includes a gripping and conveying frame connected to the frame. The two ends of the gripping and conveying frame are rotatably connected to a gripping and conveying active roller and a passive roller. A gripping and conveying transmission belt is driven between the active roller and the passive roller. The gripping and conveying active roller is driven to a gripping and conveying reduction gearbox. The gripping and conveying reduction gearbox is driven to a gripping and conveying motor. The gripping and conveying motor is electrically connected to a gripping and conveying motor controller. Gripping and conveying limit strips are provided on the gripping and conveying transmission belt. Gripping and conveying limit grooves are formed between adjacent gripping and conveying limit strips. The gripping and conveying limit grooves correspond left and right to the limit grooves of the second vibrating plate of the vibrating material.

Images