Automated robotic system for packaging

Abstract

An automated packaging robot system is disclosed. An automated packaging robot system according to an embodiment of the present invention includes a target material supply unit, a packaging film supply unit, a packaging unit, a gripper, and a control unit. The gripper has a structure capable of adsorbing the packaging film and adjusting the gap by grasping both sides. The packaging unit performs functions such as inputting the target material, opening the packaging film, and sealing. The present invention has the effect of increasing work efficiency, solving the problem of labor shortage, and improving productivity by automating the packaging process of composite fish paste.

Description

Technology Field

[0001] The present invention relates to an automated robot system for packaging, and more specifically, to a robot system for automatically sorting and packaging objects such as composite fish paste. Background Technology

[0002] The seafood processing industry is facing a severe labor shortage, making it difficult to maintain manual-based production processes.

[0003] In particular, the packaging process during the production of complex fish cakes is carried out manually, making the occurrence of defective products due to damage and a decline in marketability inevitable.

[0004] In addition, high-intensity labor is required due to long hours of visual labor and repetitive tasks involving the musculoskeletal system.

[0005] The existing technology related to automatic fish cake sorting and packaging machines (Published Patent No. 10-2024-0025245) presents a method of recognizing fish cakes using a vision camera, sorting and classifying them using a robot, and packaging them with a vacuum packaging machine.

[0006] In addition, a device for sorting and guiding fish cakes by counting the quantity and location of the fish cakes during packaging (Registered Patent No. 10-1236066) has also been proposed.

[0007] However, these existing technologies have limitations in efficiently packaging composite fish paste. Prior art literature

[0008] Korean Patent Publication No. 10-2024-0025245 (Publication Date: 2024.02.27) The problem to be solved

[0009] The problem that the present invention aims to solve is to provide an automated packaging robot system that automates the complex fish paste packaging process, which relies on the visual inspection and repetitive manual labor of workers, thereby alleviating labor shortages and improving productivity. means of solving the problem

[0010] To achieve the above objective, an automated robot system for packaging according to an embodiment of the present invention may include: a first supply unit for supplying an object for packaging; a second supply unit for supplying a packaging film for packaging the object; a packaging unit for packaging the object in the packaging film; a gripper for moving the packaging film to the packaging unit; and a control unit for controlling the first supply unit, the second supply unit, the packaging unit, and the gripper.

[0011] In addition, to achieve the above objective, a gripper of an automated packaging robot system according to an embodiment of the present invention may include: a connecting part coupled to a robot; a base coupled to the connecting part; a first adsorption part coupled to the base to adsorb a packaging film; and a gripping part coupled to the base to grasp both sides of the packaging film and adjust the gap.

[0012] In addition, to achieve the above objective, the first supply unit of the packaging automation robot system according to an embodiment of the present invention can supply objects composed of mixtures by classifying them into various types.

[0013] In addition, to achieve the above objective, the second supply unit of the packaging automation robot system according to an embodiment of the present invention can supply various types of packaging films for packaging classified according to the type of object.

[0014] In addition, to achieve the above objective, the packaging unit of the packaging automation robot system according to an embodiment of the present invention may include: a support member; a body coupled to the support member and having an object fed upward and discharged downward; and a nozzle coupled to the body and capable of opening the opening of a packaging film located below by spraying air.

[0015] In addition, to achieve the above objective, the packaging unit of the packaging automation robot system according to an embodiment of the present invention may further include a second adsorption unit coupled to a support unit and adsorbing a packaging film located below.

[0016] In addition, to achieve the above objective, the control unit of the packaging automation robot system according to an embodiment of the present invention can adsorb a packaging film adsorbed by a first adsorption unit to a second adsorption unit, and fix both ends of the packaging film adsorbed by the second adsorption unit by gripping them with a grip unit.

[0017] In addition, to achieve the above objective, the packaging part of the packaging automation robot system according to an embodiment of the present invention may further include a support member coupled to a support member to support the lower part of the packaging film.

[0018] In addition, to achieve the above objective, the packaging unit of the packaging automation robot system according to an embodiment of the present invention may further include a sealing unit coupled to a support unit to seal the opening of a packaging film into which an object is inserted.

[0019] In addition, to achieve the above objective, the control unit of the packaging automation robot system according to an embodiment of the present invention can seal the opening of the packaging film with the sealing unit while pulling both sides of the packaging film with the gripping unit.

[0020] In addition, to achieve the above objective, the grip portion of the packaging automation robot system according to an embodiment of the present invention may include a driving unit coupled to a base; a pair of extension bars coupled to the driving unit and capable of adjusting the gap; and a pair of grippers coupled to the extension bars and capable of gripping a packaging film from both sides. Effects of the invention

[0021] According to the packaging automation robot system of the embodiment of the present invention, the packaging process of composite fish paste can be automated, thereby resolving the inconvenience of relying on manual labor by workers.

[0022] In addition, according to the packaging automation robot system of the embodiment of the present invention, the labor shortage phenomenon can be improved and the productivity of composite fish paste can be enhanced.

[0023] In addition, according to the packaging automation robot system of the embodiment of the present invention, the efficiency of the packaging operation can be increased by minimizing the work path.

[0024] In addition, according to the packaging automation robot system of the embodiment of the present invention, economic effects can be expected by reducing product damage and improving quality. Brief explanation of the drawing

[0025] FIG. 1 is a perspective view of an automated packaging robot system according to one embodiment of the present invention. Figure 2 is an enlarged view of a portion of Figure 1. FIG. 3 is an exploded perspective view of a packaging part of an automated packaging robot system according to one embodiment of the present invention. FIG. 4 shows a front view of the packaging section of an automated packaging robot system according to one embodiment of the present invention. FIG. 5 is a perspective view of a gripper of an automated packaging robot system according to one embodiment of the present invention. FIG. 6 is a perspective view of a gripper of an automated packaging robot system according to one embodiment of the present invention, viewed from a different direction. FIG. 7 shows a plan view of a gripper of an automated packaging robot system according to one embodiment of the present invention. FIG. 8 is a perspective view of a sealing part of an automated packaging robot system according to one embodiment of the present invention. FIGS. 9 to 13 show the usage state of a gripper of an automated packaging robot system according to one embodiment of the present invention. Specific details for implementing the invention

[0026] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0027] However, in describing the present invention, descriptions of already known functions or configurations are omitted in order to clarify the gist of the invention.

[0028] The X, Y, and Z axes shown in the drawing are arbitrarily determined for the convenience of explanation rather than for the purpose of limiting rights; the X-axis is defined to indicate the forward (towards the arrow) and backward (opposite side of the arrow) directions, the Y-axis to indicate the left and right directions, and the Z-axis to indicate the up and down directions.

[0029] Each direction described below is based on this, except where specifically limited otherwise.

[0030] Terms such as up, down, left and right, front, and back, which designate directions in the description of the invention and claims, are determined based on the relative positions between drawings and components for the convenience of explanation and are not intended to limit rights; therefore, each direction described below is based on this, except where specifically defined otherwise.

[0031] Referring to FIG. 1, the packaging automation robot system of the present invention may largely include a first supply unit (100), a second supply unit (200), a packaging unit (300), a gripper (400), a control unit (500), and a discharge unit (600).

[0032] Referring to FIG. 1, the first supply unit (100) can supply a product to be packaged, namely a composite fish paste.

[0033] The first supply unit (100) can supply various types of fish paste separately.

[0034] For example, the first supply unit (100) can supply fish cakes of different sizes or shapes through different passages.

[0035] Referring to FIG. 2, the second supply unit (200) can supply packaging film to be used for packaging.

[0036] The second supply unit (200) can supply two or more types of packaging film (20, 30).

[0037] The second supply unit (200) can supply appropriate packaging film according to the type or size of the object.

[0038] Referring to FIGS. 3 and 4, the packaging part (300) is a component that places fish cake into a packaging plastic bag (20, 30) and seals it.

[0039] The support member (310) can support the entire structure of the packaging member (300).

[0040] The support member (310) is made of a sturdy material so as to absorb vibrations or shocks that may occur during the packaging process and to stably support other components.

[0041] The body (320) is a passage through which an object (fish cake) is introduced upward and discharged downward.

[0042] The body (320) can be made in the shape of a hollow funnel and can be made to fit the size and shape of the object.

[0043] The nozzle (330) is attached to the body (320) and can spray air into the opening of the packaging film (20, 30) located below.

[0044] The nozzle (330) can open the packaging film (20, 30) by blowing air so that the object can be easily inserted.

[0045] The position and angle of the nozzle (330) can be adjusted so as to effectively open the packaging film (20, 30).

[0046] The second adsorption part (340) is coupled to the support part (310) and can adsorb and fix the packaging film (20, 30) located below the body (320).

[0047] The second adsorption part (340) may mainly include a vacuum pad or an adsorption cup.

[0048] The packaging film (20, 30) can be securely fixed so that the film does not move during the packaging process.

[0049] The base (350) can support the lower part of the packaging film (20, 30).

[0050] The base (350) can prevent the packaging film from sagging downward when the fish cake is inserted and maintain a stable shape.

[0051] The height and shape of the base (350) can be manufactured by taking into account the size of the packaging film (20, 30) and the weight of the object.

[0052] The sealing part (360) can seal the opening of the packaging film (20, 30) into which the object is inserted.

[0053] The sealing portion (360) may include a pair of heating blades (361) that are electrically heated to melt and bond the packaging film (20, 30).

[0054] The sealing part (360) can control the temperature of the heating blade (361) so that it can accommodate packaging film of various materials.

[0055] The sealing portion (360) may include a spring (362) that allows the heating blade to apply appropriate pressure to the packaging film (20, 30).

[0056] The tension of the spring (362) can be adjusted according to the thickness and material of the packaging film (20, 30).

[0057] The sealing portion (360) can be sealed by applying heat while compressing the packaging film (20, 30) from both sides.

[0058] The sealing part (360) can seal the packaging film (20, 30) to maintain the freshness of the contents and prevent external contamination.

[0059] The discharge guide (370) can guide the packaged product to the discharge section.

[0060] The discharge guide (370) can be manufactured in the form of an inclined slide or a short conveyor belt so that the packaged product can naturally move to the discharge section (600).

[0061] Each component of the packaging unit (300) can be organically connected and operated according to the command of the control unit (500).

[0062] Each component of the packaging unit (300) can perform an efficient packaging process by operating at the correct timing according to the command of the control unit (500).

[0063] According to the command of the control unit (500), the packaging unit (300) can perform automatic packaging of the composite fish paste quickly and accurately, and can greatly improve productivity by minimizing the intervention of the operator.

[0064] Referring to FIGS. 5 to 7, the gripper (400) is a component attached to the robot (50) that moves and manipulates the packaging film (20, 30).

[0065] The connecting part (410) is the part that connects the gripper (400) to the robot (50).

[0066] The connecting part (410) is made of a sturdy material so as to be able to support the weight of the gripper (400) and the force generated during operation.

[0067] The connection part (410) can adopt a standardized connection method to be compatible with various models of robots.

[0068] The connecting part (410) can also serve as a passage for transmitting electrical signals and pneumatic pressure.

[0069] The base (420) is a part that forms the basic structure of the gripper.

[0070] The base (420) can be combined with other components.

[0071] The base (420) may have a control circuit and a pneumatic line installed inside.

[0072] The first adsorption part (430) is coupled to the base (420) and can adsorb packaging film (20, 30).

[0073] The first adsorption unit (430) is composed of several small vacuum pads, so it can stably adsorb packaging film (20, 30) of various sizes and shapes.

[0074] The vacuum pressure can be controlled by the control unit (500) and optimized according to the weight and material of the packaging film (20, 30).

[0075] The grip portion (440) can hold both ends of the packaging film (20, 30).

[0076] The drive unit (441) may include a motor and a gear system that controls the movement of the grip unit.

[0077] The drive unit (441) can implement an accurate gripping motion by using a servo motor capable of precise position control.

[0078] The drive unit (441) may include a mechanism that converts the rotational motion of the motor into linear motion.

[0079] The extension bar (442) is the part that actually moves by receiving the operation of the drive unit (441).

[0080] The extension bar (442) can move symmetrically with one on each side, for a total of two extension bars.

[0081] The clamp (443) is attached to the end of the extension bar (442) and is the part that holds the packaging film (20, 30).

[0082] The clamp (443) can have appropriate strength and surface treatment so as not to damage the packaging film (20, 30).

[0083] The gripper (400) may include a rotation mechanism capable of rotating the connecting part (410) and the base (420) relative to each other.

[0084] The gripper (400) can rotate after picking up the packaging film (20, 30) through a rotation mechanism.

[0085] The gripper (400) may include a position sensor that detects the open / closed state of the grip portion (440), a pressure sensor that detects the vacuum pressure of the suction portion and the gripping force of the clamp, a proximity sensor that detects the presence of the packaging film, etc.

[0086] The gripper (400) can be operated through the control unit (500).

[0087] The control unit (500) coordinates and manages the operation of the entire system and enables each component to operate organically.

[0088] The control unit (500) can control the movement of the robot (50) and the gripper (400).

[0089] The control unit (500) can collect and process data from various sensors (position sensor, pressure sensor, temperature sensor, etc.) and perform real-time process monitoring and adjustment based on the sensor data.

[0090] The control unit (500) can control the timing and quantity of fish paste supply from the first supply unit (100) and control the supply of packaging film from the second supply unit (200).

[0091] The robot (50) used in the packaging automation robot system of the present invention may be a collaborative robot.

[0092] Collaborative robots are robots designed to operate safely in the same workspace as humans and have the following characteristics:

[0093] a) Safety: Collaborative robots are equipped with safety features, such as stopping immediately or limiting force upon contact with a person, allowing them to work in the same space as human workers.

[0094] b) Flexibility: Programming is relatively easy and can be quickly applied to various tasks, allowing for flexible response to changes in packaging operations.

[0095] c) Space efficiency: It can operate without large safety fences, allowing for efficient use of workspace.

[0096] d) Ease of use: The intuitive interface allows the operator to easily operate and program.

[0097] By using a collaborative robot in the system of the present invention, efficient packaging operations can be performed while ensuring worker safety. Furthermore, the system can respond quickly to changes in the work environment or new packaging requirements, thereby increasing the flexibility and scalability of the system.

[0098] The operation process of the packaging automation robot system according to the present invention is described below.

[0099] The operation process of the packaging automation robot system is carried out under the precise control of the control unit (500), and the entire process is automated, which can significantly reduce dependence on manpower and improve productivity.

[0100] Referring to FIG. 9, the gripper (400) can move the packaging film (20, 30) adsorbed by the first adsorption part (430) to the second adsorption part (340) of the packaging part (300).

[0101] The second adsorption part (340) can wait while adsorbing the packaging film (20, 30).

[0102] Referring to FIG. 10, the gripper (400) can rotate 180 degrees to grasp both ends of the packaging film (20, 30) adsorbed to the second adsorption part (340) with a clamp (443).

[0103] With the clamp (443) of the grip portion (440) holding both sides of the packaging film (20, 30), air is sprayed from the nozzle (330) to open the opening of the packaging film (20, 30).

[0104] When the opening of the packaging film (20, 30) is opened, fish cake from the first supply unit (100) can be fed into the opened packaging film (20, 30) through the body (320).

[0105] Referring to FIG. 11, the packaging film (20, 30) can be adsorbed by the first adsorption part (430) and the second adsorption part (340) to open the opening of the packaging film (20, 30).

[0106] Referring to FIG. 12, the clamp (443) of the grip portion (440) may hold both sides of the packaging film (20, 30) and then the packaging film (20, 30) may be adsorbed by the second suction portion (340) to open the opening of the packaging film (20, 30).

[0107] Referring to FIG. 13, when the clamp (443) of the grip portion (440) pulls both sides of the packaging film (20, 30), the opened opening of the packaging film (20, 30) can be closed.

[0108] The heated heating blade (361) of the sealing part (360) can seal the opening of the packaging film (20, 30) by applying heat while compressing it.

[0109] The packaged product can be moved to the discharge section (600) through the discharge guide section (370).

[0110] Although specific embodiments of the present invention have been described and illustrated above, it is obvious to those skilled in the art that the present invention is not limited to the described embodiments and can be modified and varied in various ways without departing from the spirit and scope of the invention.

[0111] Therefore, such modifications or variations should not be understood individually from the technical spirit or perspective of the present invention, and modified embodiments should be considered to fall within the scope of the claims of the present invention. Explanation of the symbols

[0112] 10: Table 20: First packaging film 30: Second packaging film 40: Table 50: Robot 100: 1st supply unit 200: Second supply unit 300: Packaging Department 310: Support 320: Body 330: Nozzle 340: Second adsorption part 350: Stand 360: Sealing part 361: Heating blade 362: Spring 370: Discharge guide 400: Gripper 410: Connection 420: Bass 430: First adsorption part 440: Grip section 441: Drive unit 442: Extension bar 443: Tongs 500: Control unit 600: Discharge section

Claims

Claim 1 An automated packaging robot system comprising: a first supply unit for supplying an object for packaging; a second supply unit for supplying a packaging film for packaging the object; a packaging unit for packaging the object in the packaging film; a gripper for moving the packaging film to the packaging unit; and a control unit for controlling the first supply unit, the second supply unit, the packaging unit, and the gripper, wherein the gripper comprises: a connecting unit coupled to a robot; a base coupled to the connecting unit and capable of rotating relative to the connecting unit; a first adsorption unit coupled to the base and adsorbing the packaging film; and a gripping unit coupled to the base, facing in a direction opposite to the first adsorption unit relative to the base, and capable of grasping both sides of the packaging film and adjusting the gap. Claim 2 An automated packaging robot system according to claim 1, wherein the first supply unit distinguishes and supplies various types of objects of different sizes or shapes. Claim 3 An automated packaging robot system according to claim 1, wherein the second supply unit supplies various types of packaging films for packaging classified according to the type of object. Claim 4 An automated packaging robot system according to claim 1, wherein the packaging part comprises: a support part; a body coupled to the support part and having an object fed upward and discharged downward; and a nozzle coupled to the body and capable of opening the opening of a packaging film located below by spraying air. Claim 5 An automated packaging robot system according to claim 4, wherein the packaging part further comprises a second adsorption part that is coupled to the support part and adsorbs a packaging film located below. Claim 6 An automated packaging robot system according to claim 5, wherein the control unit adsorbs the packaging film adsorbed by the first adsorption unit to the second adsorption unit, and can secure both ends of the packaging film adsorbed by the second adsorption unit by gripping them with the gripping unit. Claim 7 An automated packaging robot system according to claim 5, wherein the packaging part further comprises a support member coupled to the support part and supporting the lower part of the packaging film. Claim 8 An automated packaging robot system according to claim 6, wherein the packaging part further comprises a sealing part coupled to the support part to seal the opening of the packaging film into which the object is inserted. Claim 9 An automated packaging robot system according to claim 8, wherein the control unit seals the opening of the packaging film with the sealing unit while both sides of the packaging film are pulled by the gripping unit. Claim 10 An automated packaging robot system according to claim 1, wherein the gripper comprises: a driving unit coupled to the base; a pair of extension bars coupled to the driving unit and capable of adjusting the spacing; and a pair of clamps coupled to the extension bars and capable of gripping a packaging film from both sides.

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