WO2021139187A1 - Fully-automatic wrapping and boxing wonton machine - Google Patents

Fully-automatic wrapping and boxing wonton machine Download PDF

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Publication number
WO2021139187A1
WO2021139187A1 PCT/CN2020/112949 CN2020112949W WO2021139187A1 WO 2021139187 A1 WO2021139187 A1 WO 2021139187A1 CN 2020112949 W CN2020112949 W CN 2020112949W WO 2021139187 A1 WO2021139187 A1 WO 2021139187A1
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
wonton
clamping jaw
clamping
transmission mechanism
Prior art date
Application number
PCT/CN2020/112949
Other languages
French (fr)
Chinese (zh)
Inventor
潘嘹
卢立新
华岩
程学雨
何咸荣
董玉杰
Original Assignee
江南大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江南大学 filed Critical 江南大学
Priority to JP2022536554A priority Critical patent/JP7385960B2/en
Publication of WO2021139187A1 publication Critical patent/WO2021139187A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A21—BAKING; EDIBLE DOUGHS
    • A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
    • A21C9/00—Other apparatus for handling dough or dough pieces
    • A21C9/06—Apparatus for filling pieces of dough such as doughnuts
    • A21C9/066—Apparatus for filling pieces of dough such as doughnuts using two separate sheets or pieces of dough with filling in between, e.g. crimped at their edges; Ravioli-making machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/04—Methods of, or means for, filling the material into the containers or receptacles
    • B65B1/06—Methods of, or means for, filling the material into the containers or receptacles by gravity flow
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors

Definitions

  • the invention relates to the technical field of automatic wonton production machinery and equipment, in particular to a fully automatic wrapping and boxing wonton machine.
  • Wontons and dumplings are the most traditional Chinese foods, which are deeply loved by consumers and occupy an important position in quick-frozen foods.
  • the steps for wrapping dumplings are simple, and the wrapping has been fully automated.
  • the yuan-pack wonton production equipment disclosed in patent CN107836483A has a forming mold (equivalent to a manipulator) clamps and fixes wonton blanks through splint 1 and splint 2.
  • Each forming mold needs to be prepared independently
  • the splint drive is not only costly, but also difficult to line up.
  • the invention provides a fully automatic wrapping and boxing wonton machine, which can solve the technical problems of high cost and difficult line arrangement of existing automatic wonton production equipment.
  • a fully automatic wrapping and cartoning wonton machine which includes a manipulator, a manipulator transmission mechanism and a gripper drive, characterized in that: the manipulator and the gripper drive are arranged separately, and the manipulator is connected The manipulator transmission mechanism; when the manipulator is driven by the gripper under the drive of the manipulator transmission mechanism, the gripper drive acts on the manipulator, and the gripper of the manipulator opens; After the manipulator drive mechanism drives the manipulator away from the clamping jaw drive, the clamping jaw drive does not act on the manipulator, and the clamping jaws of the manipulator are closed.
  • the fully automatic wrapping and cartoning wonton machine includes a wonton blank guide groove, a top flanging mechanism, a left and right folding and kneading mechanism, a blanking mechanism, a boxing mechanism and a frame, and the manipulator is driven by the manipulator. Driven by the mechanism, it makes a rotary motion and sequentially passes through the wonton blank guide groove, the top flanging mechanism, the left and right folding and kneading mechanism, and the blanking mechanism; the frame is located in the guide groove and A clamping jaw drive is installed at the blanking mechanism.
  • the manipulator includes a clamping jaw base, a clamping jaw and a torsion spring
  • the clamping jaw base is connected to the manipulator transmission mechanism, a pair of the clamping jaws are separately provided on both sides of the clamping jaw base, so
  • the clamping jaw includes a fixed clamping piece and a movable clamping piece, the fixed clamping piece is installed on the clamping jaw base, the movable clamping piece includes a clamping portion, a rotating portion, and a driving portion connected in sequence, the movable clamping piece
  • the clamping part cooperates with the clamping part of the fixed clip to clamp the left edge/right edge of the filling part of the wonton blank, the rotating part is supported on the clamping jaw base through a rotating shaft, and the driving The part extends out of the clamping jaw base, the torsion spring is sleeved on the rotating shaft and the two spring feet are respectively connected to the clamping jaw base and the rotating part, when the clamping jaw drive does not act on the manipulator ,
  • the clamping jaw drive is a clamping jaw cam
  • the clamping jaw cam is mounted on a panel
  • the panel is mounted on the frame.
  • clamping portion of the fixed clip and the clamping portion of the movable clip are both perpendicular to the bottom plate of the clamping jaw base.
  • the manipulator transmission mechanism is a double-chain manipulator transmission mechanism, and the two sides of the clamping jaw base are connected with the chain of the double-chain manipulator transmission mechanism through connecting pieces.
  • the wonton blank guide groove, the top flanging mechanism, and the left-right folding and kneading mechanism are located above the manipulator transmission mechanism, and the blanking mechanism is located below the manipulator transmission mechanism.
  • the cartoning mechanism is located below the blanking mechanism.
  • the top flanging mechanism includes a pre-folding unit and a flanging pressing unit that are sequentially arranged along the transmission direction
  • the pre-folding unit includes a blowing joint and an air source
  • the blowing joint is disposed on the Below the wonton blank guide groove
  • the blowing joint is provided with blowing holes arranged along the width direction of the wonton blank, and the blowing holes face the top surface of the wonton blank and are arranged in the same direction as the transmission direction.
  • the blowing joint is connected, the flanging pressing unit includes a top flipping plate and a top flanging motor, and the top flipping plate is drivingly connected to the top flanging motor through a connecting shaft, and the connecting shaft and the top flanging motor are drivingly connected.
  • the top page turning plates are all arranged along the width direction of the wonton blank, and the air blowing joint and the top turning motor are respectively mounted on the frame through a bracket.
  • the left-right folding and kneading mechanism includes a kneading stopper and a first folding unit and a second folding unit arranged in sequence along the transmission direction, and the kneading stopper is installed upright on the clamping jaw base and located on a pair of Between the clamping jaws, the first turning unit includes a pair of shaped guide rails arranged at intervals, the main bodies of the pair of shaped guide rails are arranged in parallel with the transmission direction, and the feeding ends form a flaring structure that tapers from the outside to the inside.
  • the second folding unit includes a left and right page turning plates that are both vertically arranged, and the left and right page turning plates are respectively connected to a turning motor, and the left side
  • the lower end of the side portion of the page turning plate is provided with a bump
  • the lower end of the side portion of the right page turning plate is provided with a notch
  • the initial state of the left page turning plate and the right page turning plate are set parallel to the driving direction, passing through
  • a pair of the forming guide rails and the turning motors are respectively mounted on the frame through a bracket.
  • the blanking mechanism includes a downward shifting wonton clamp and a downward shifting cylinder, the downward shifting wonton clamp is connected with the piston rod of the downward shifting cylinder, and the kneading stop includes a portion that matches the filling part of the wonton blank.
  • the support part is higher than the bottom plate of the clamping jaw base and is spaced apart from the clamping jaws on both sides, and the lower dial ravioli clamp is provided with a pair of spaced dial rods.
  • the blanking mechanism further includes a blanking bucket, which is arranged in a vertical direction and is mounted on the frame through a bracket.
  • the cartoning mechanism includes a tray and a tray transmission mechanism, and the movement rotation surface of the tray transmission mechanism is perpendicular to the movement rotation surface of the manipulator transmission mechanism.
  • the manipulator and the clamping jaw drive are arranged separately, and the manipulator is driven by the manipulator transmission mechanism to realize the clamping jaw opening through the clamping jaw drive.
  • one clamping jaw is driven to cooperate with multiple manipulators. Reduce the number of gripper drive requirements, simplify the structure of the manipulator, and reduce costs.
  • the gripper drive is set as a cam, it can also eliminate the wiring arrangement and further reduce the cost; in addition, the manipulator is driven by the manipulator transmission mechanism.
  • top flanging mechanism After wonton blank guide trough, top flanging mechanism, left and right folding kneading mechanism and blanking mechanism to realize the original blanking, top crust folding, left and right side crust kneading and blanking continuous operation, the top cuffing
  • the mechanism and the left-right folding and kneading mechanism are set independently of the manipulator. On the one hand, it reduces the number of top-flanging mechanisms and the left-right folding and kneading mechanism, which can simplify the structure and reduce equipment costs.
  • the related drive is set separately from the manipulator. , The line layout is easy.
  • Fig. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
  • Figure 2 is a schematic top view of the structure of the embodiment of the present invention, in which the cartoning mechanism and part of the bracket are not shown.
  • Figure 3 is a schematic front view of the structure of an embodiment of the present invention, in which the cartoning mechanism and part of the bracket are not shown.
  • Fig. 4 is a schematic structural diagram of the cooperation of the manipulator, the wonton blank guide groove and the top flanging mechanism according to the embodiment of the present invention.
  • Fig. 5 is a schematic structural diagram of the cooperation of the manipulator, the flanging pressing unit and the left and right folding and kneading mechanism according to the embodiment of the present invention.
  • Fig. 6 is a schematic structural diagram of a wonton blank guide groove according to an embodiment of the present invention.
  • Fig. 7 is a schematic structural diagram of a pre-folding unit according to an embodiment of the present invention.
  • FIG. 8 is a first view structural schematic diagram of the manipulator according to the embodiment of the present invention, in which the clamping jaw driving is not shown.
  • Fig. 9 is a schematic structural diagram of a manipulator according to an embodiment of the present invention from a second perspective, in which the clamping jaw driving is not shown.
  • FIG. 10 is a schematic view of a third perspective structure of the manipulator according to the embodiment of the present invention, in which the clamping jaw drive is not shown.
  • FIG. 11 is a schematic diagram of the structure of the clamping jaw drive according to the embodiment of the present invention.
  • Fig. 12 is a schematic structural diagram of a flanging pressing unit according to an embodiment of the present invention.
  • Fig. 13 is a schematic structural diagram of a first folding unit according to an embodiment of the present invention.
  • FIG. 14 is a schematic structural diagram from a first perspective of a second folding unit according to an embodiment of the present invention.
  • FIG. 15 is a schematic structural diagram of a second viewing angle of a second folding unit according to an embodiment of the present invention.
  • FIG. 16 is a schematic top view of the structure of the robot arm and the filling bending unit according to the embodiment of the present invention.
  • Figure 17 is a schematic diagram of the structure of a balanced rail and an inwardly folded rail according to an embodiment of the present invention.
  • FIG. 18 is a schematic diagram of the structure of the manipulator and the transmission mechanism in the embodiment of the present invention.
  • Fig. 19 is a schematic structural diagram of a blanking mechanism according to an embodiment of the present invention.
  • Figure 20 is a schematic structural diagram of a box loading mechanism according to an embodiment of the present invention.
  • a fully automatic wrapping and cartoning wonton machine includes a manipulator 100, a manipulator transmission mechanism 200, a wonton blank guide groove 300, a top flanging mechanism, a left and right folding and kneading mechanism, and a blanking mechanism.
  • the mechanism 600, the cartoning mechanism 700 and the frame, the manipulator 100 is driven by the manipulator transmission mechanism 200 to make a rotary motion in the vertical plane and pass through the wonton blank guide groove 300, the top flanging mechanism, the left and right folding and kneading mechanism and The blanking mechanism 600; the wonton blank guide groove 300, the top flanging mechanism and the left and right folding and kneading mechanism are located above the manipulator transmission mechanism 200, the blanking mechanism 600 is located below the manipulator transmission mechanism 200, and the cartoning mechanism 700 is located at the blanking mechanism Below 600, the manipulator 100 is in an upside-down state when it is under the revolving trajectory, and the wontons held by it are in an upright state; the rack is located at the guide groove 300 and the blanking mechanism 600, respectively, which is equipped with clamping jaw drives.
  • the guide trough includes a shell 301, a first guide plate 302 and a second guide plate 303.
  • the shell 301 is provided with a blanking port that matches the wonton blank, and the shell 301 is provided with a pair of blanks in the middle part below the blanking port.
  • a pair of second guide plates 303 are provided on both sides of the first guide plate 302, and the first guide plate 302 and the second guide plate 303 are arranged at intervals, which can reduce the contact area with the wonton blank and prevent the wonton blank from sticking.
  • the manipulator transmission mechanism 200 is a double-chain type manipulator transmission mechanism 200.
  • the chain 201 adopts a plate chain, and the outer side of the chain 201 is provided with a balance rail 202 arranged in parallel with the chain.
  • the manipulator 100 includes a jaw base, a jaw and a torsion spring.
  • the jaw base includes a base plate 101 and a base plate 102.
  • the base plate 101 is fixed above the base plate 102 through a connecting column 103.
  • the two sides of the bottom surface of the base plate 102 are respectively fixed to the connecting plate of the chain.
  • the side of the base plate 102 is provided with guide rollers 122 respectively, and the guide rollers 122 move along the groove of the balance rail 202.
  • a pair of clamping jaws are separately arranged on both sides of the clamping jaw base.
  • the clamping jaws include a fixed clip 104 and a movable clip.
  • the fixed clip 104 is mounted on the jaw base.
  • the movable clip 105 includes a clamping portion 106, a rotating portion 107, and a driving portion 108 connected in sequence.
  • the clamping portion 106 of the movable gripper and the fixed clip 104 are clamped
  • the holding parts 106 are perpendicular to the clamping jaw base (to prevent the left and right sides of the wonton blank from being exposed) and cooperate with each other to clamp the left edge/right edge of the filling part of the wonton blank.
  • the rotating part 107 is supported by the clamping jaw shaft 115
  • the gripper base, the driving part 108 extends out of the gripper base, the torsion spring is sleeved on the gripper shaft 115 and the two spring legs are respectively connected to the gripper base and the rotating part 107, the gripper drive 117 does not act on the manipulator 100
  • the clamping jaw drive 117 is a clamping jaw cam, and the lower part of the guide groove and the upper part of each blanking mechanism correspond to There is a clamping jaw cam.
  • a universal ball 124 is installed under the end of the driving part to cooperate with the clamping jaw cam.
  • the clamping jaw cam is installed on the panel 116.
  • the panel can be provided with grooves that cooperate with the universal ball guide.
  • the panel 116 Installed on the frame, the torsion spring is used to press the clamping portion 106 to the side of the fixed clip 104 to close the clamping jaw when the clamping jaw drive 117 is not working.
  • the driving part 108 of the movable jaw moves along the lifting part 118 of the front end of the cam, forcing the movable jaw to rotate around the rotating shaft, and move the clamping part 106 to the side away from the fixed clip 104
  • the clamping jaws are expanded to the maximum when reaching the apex 119 of the cam.
  • the driving part 108 of the movable clamping jaws moves along the lower part 120 of the rear end of the cam.
  • the movable clamping jaws rotate around the rotation axis 115 of the clamping jaws under the action of the torsion spring. Reverse rotation, the jaws gradually close.
  • the two sides of the bottom plate 101 of the jaw base are respectively rotatably connected with an inner folding connecting plate 110 through an inner folding rotating shaft 109.
  • a clip seat body 114 is fixed on the inner folding connecting plate 110, and the fixed clip 104 Both the movable clip 105 and the movable clip 105 are installed on the clip base 114, and the ends of the two clip bases are connected with an inwardly folded return spring 123.
  • the top flanging mechanism includes a pre-folding unit 400a and a flanging pressing unit 400b that are sequentially arranged along the transmission direction.
  • the pre-folding unit 400a includes a blowing joint and an air source.
  • the blowing joint is arranged under the wonton blank guide groove 300 and It is supported on the frame by the blowing bracket, the blowing joint is T-shaped, and the horizontal part 411 is provided with blowing holes 413 arranged along the width direction of the wonton blank, and the longitudinal part 412 is connected to the air source through the pipeline, and the blowing holes face the wonton.
  • the top surface of the blank is set in the same direction as the transmission direction.
  • the air source is connected to the blowing joint through a pipeline.
  • the flanging pressing unit 400b includes a top flipping plate 421 and a top flanging motor 422.
  • the top flanging motor 422 is connected to the double right-angle shaft.
  • Shaft output reducer 423, right-angled shaft dual-shaft output reducer 423 is supported on the frame through the top flange bracket 428, the two output ends of the right-angled shaft dual-shaft output reducer 423 are respectively passed through the first coupling 424, the first The connecting shaft 425 and the top turning plate 421 are in transmission connection.
  • the connecting shaft 425 is supported by the top turning bracket 428 through the right-angle bearing seat 426.
  • the connecting shaft and the top turning plate 421 are arranged along the width direction of the wonton blank.
  • the right-angle shaft is outputted by two shafts.
  • the lower part of the reducer is covered by a sealing cover 427 to ensure clean food processing requirements.
  • the pre-folded top crust of the wonton blank is further turned down and pressed against the filling part of the crust, and the page is turned through the rotating top
  • the plate 421 replaces a fixed stop, the top surface is turned and pressed more softly, and the shape is more accurate.
  • the left-right folding and kneading mechanism includes a kneading stop 111 and a first folding unit 500a and a second folding unit 500b arranged in sequence along the transmission direction.
  • the kneading stop 111 is installed on the jaw base and located between a pair of jaws
  • the kneading block 111 includes an upright kneading portion 113 and a horizontal support portion 112.
  • the first turning unit 500a includes a pair of shaped guide rails 510 spaced apart, and the pair of shaped guide rails 510 are supported on the frame through the first folding bracket.
  • the second folding unit 500b includes a left-side turning plate 521 that is both vertically arranged.
  • the right page turning plate 522, the left page turning plate 521 and the right page turning plate 522 are respectively connected to the turning motor 525 through the second connecting shaft 523 and the second coupling 524, and the turning motor 525 passes through the second turning
  • the bracket 526 is supported on the frame, the left side of the page turning plate 521 is provided with a bump 528 at the lower end of the side, the right side of the page turning plate 522 is provided with a notch at the lower end of the side, the left page turning plate 521 and the right page turning plate
  • the initial state of 522 is set parallel to the transmission direction, and after the page turning drive is rotated, it is set perpendicular to the transmission direction, and the protrusion 528 is combined with the notch.
  • the left page turning plate 521 and the right page turning plate 522 are provided with a sealed box 527 to ensure Food processing cleanliness requirements.
  • the wonton blanks clamped on the manipulator 100 pass through the first turning unit 500a and the second turning unit 500b in sequence, and the left and right side skins are first turned 90° under the squeezing action of the forming guide 510, and then turned on the left side.
  • the page plate 521 and the right page turning plate 522 are turned over again by 90° and contact with the end surface of the kneading part 113 of the kneading stop.
  • the left and right sides need to be overlapped on the right side during the kneading process of the left and right sides.
  • the overlapping part of the right noodles and the left noodles is exposed in the gap, so that the right flipping plate 522 does not need to be reset during the process of kneading the left and right sides to maintain the right.
  • the side skins are folded correspondingly.
  • the left side skin is folded in place and overlaps with the right side skin at the notch, and the overlapped parts of the left and right side skins are squeezed and kneaded by the bumps 528 joined with the notch.
  • the left and right sides of the wonton blank are firmly kneaded and are not easy to separate in the later stage.
  • the left-right folding and kneading mechanism also includes a filling bending unit.
  • the filling bending unit includes a pair of parallel U-shaped guide rails 530.
  • the U-shaped guide rail extends from the forming guide rail to the blanking mechanism. After the claws clamp the wonton blank,
  • the inwardly folded connecting plates 110 on both sides of the manipulator overcome the effect of the inwardly folded return spring 123 under the action of the inwardly folded roller 121 and the inwardly folded guide 530 to rotate toward each other, and drive the filling part of the wonton blank to bend into a semi-circular arc shape.
  • the filling part When the noodles are small in size and the left and right sides of the noodles cannot be overlapped, by bending the filling part to reduce its width, the left and right sides of the noodles can be smoothly overlapped, and the filling part is bent into a semi-circular arc The state of the shape is maintained to the blanking mechanism to ensure the shape.
  • the blanking mechanism 600 includes a downward shifting wonton clamp 601 and a downward shifting cylinder.
  • the downward shifting wonton clamp 601 is connected with the piston rod of the downward shifting cylinder.
  • the kneading stop includes a support part that matches the filling part of the wonton blank, and the support part is higher than the clamp.
  • the bottom plate of the claw base is spaced from the clamping claws on both sides.
  • the downward shifting wonton clamp 601 includes a pair of shifting rods 602 arranged at intervals.
  • the shifting rods 602 are installed on the connecting rod 603, and the connecting rod 603 is connected to the piston rod of the lowering cylinder.
  • the downward shifting cylinder acts to drive the downward shifting wonton clamp 601 to move downwards, and the wontons are separated from the manipulator 100 and fall into the tray;
  • the blanking mechanism 600 also includes a blanking bucket 604,
  • the blanking barrel 604 is vertically arranged and installed on the frame through a blanking bracket. The setting of the blanking mechanism 600 can prevent wontons from adhering to the clamping part, and ensure that each wonton can be smoothly separated from the manipulator 100.
  • the cartoning mechanism 700 includes a tray 701, a tray transmission mechanism 702, and an adjustment mechanism.
  • the movement rotation surface of the tray transmission mechanism is perpendicular to the movement rotation surface of the manipulator transmission mechanism 200.
  • the adjustment mechanism includes a linear slide rail pair 704, a timing belt 703, etc.
  • the middle part of the tray drive mechanism 702 is connected to the timing belt 703 through an installation accessory, and the two sides are guided by a linear slide rail pair 704 and a boxing bracket.
  • the 702 motor drives the conveyor belt to move and realize pallet transportation and positioning. When double-station or multi-station, the position of the discharge port of the blanking mechanism is different, so the placement position of the tray is also different.
  • the synchronous belt drives the tray transmission mechanism to move along the linear slide rail pair to adjust the relative position.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Food Science & Technology (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manufacturing And Processing Devices For Dough (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Manipulator (AREA)

Abstract

The present invention provides a fully-automatic wrapping and boxing wonton machine, which can solve the technical problems of high costs and difficult line arrangement of existing automatic wonton production equipment. A fully-automatic wrapping and boxing wonton machine, comprising manipulators, a manipulator transmission mechanism, and a gripper drive, wherein the manipulators and the gripper drive are arranged separately, and the manipulators are connected to the manipulator transmission mechanism; when the manipulators pass through the gripper drive under the drive of the manipulator transmission mechanism, the gripper drive acts on the manipulators, and the grippers of the manipulators are opened; when the manipulator transmission mechanism drives the manipulators to leave the gripper drive, the gripper drive does not act on the manipulators, and the grippers of the manipulators are closed. In the present invention, one gripper drive is used in conjunction with multiple manipulators, so as to reduce the number of gripper drives and simplify the structure of the manipulator, thereby reducing the costs of the machine.

Description

一种全自动包裹、装盒馄饨机Automatic wrapping and boxing wonton machine 技术领域Technical field
本发明涉及馄饨自动化生产机械设备技术领域，具体涉及一种全自动包裹、装盒馄饨机。 The invention relates to the technical field of automatic wonton production machinery and equipment, in particular to a fully automatic wrapping and boxing wonton machine.
背景技术Background technique
馄饨、水饺最为中国传统食品，深受广大消费者喜爱，在速冻食品中占有重要地位。水饺裹包步骤简单，已经完全实现了自动化裹包。馄饨自动化生产还存在一系列技术问题，例如专利CN107836483A公开的元包馄饨生产设备，其成型模（相当于机械手）通过夹板一和夹板二夹持固定馄饨坯，每一个成型模都需要配制独立的夹板驱动，不仅成本高，而且线路排布困难。Wontons and dumplings are the most traditional Chinese foods, which are deeply loved by consumers and occupy an important position in quick-frozen foods. The steps for wrapping dumplings are simple, and the wrapping has been fully automated. There are still a series of technical problems in the automatic production of wontons. For example, the yuan-pack wonton production equipment disclosed in patent CN107836483A has a forming mold (equivalent to a manipulator) clamps and fixes wonton blanks through splint 1 and splint 2. Each forming mold needs to be prepared independently The splint drive is not only costly, but also difficult to line up.
技术问题technical problem
本发明提供了一种全自动包裹、装盒馄饨机，其能解决现有馄饨自动化生产设备成本高以及线路排布困难的技术问题。The invention provides a fully automatic wrapping and boxing wonton machine, which can solve the technical problems of high cost and difficult line arrangement of existing automatic wonton production equipment.
技术解决方案Technical solutions
其技术方案是这样的，一种全自动包裹、装盒馄饨机，其包括机械手、机械手传动机构和夹爪驱动，其特征在于：所述机械手与所述夹爪驱动分开设置，所述机械手连接所述机械手传动机构；当所述机械手在所述机械手传动机构的带动下经过所述夹爪驱动时，所述夹爪驱动作用于所述机械手，所述机械手的夹爪张开；当所述机械手传动机构带动机械手离开所述夹爪驱动后，所述夹爪驱动未作用于所述机械手，所述机械手的夹爪闭合。The technical solution is as follows, a fully automatic wrapping and cartoning wonton machine, which includes a manipulator, a manipulator transmission mechanism and a gripper drive, characterized in that: the manipulator and the gripper drive are arranged separately, and the manipulator is connected The manipulator transmission mechanism; when the manipulator is driven by the gripper under the drive of the manipulator transmission mechanism, the gripper drive acts on the manipulator, and the gripper of the manipulator opens; After the manipulator drive mechanism drives the manipulator away from the clamping jaw drive, the clamping jaw drive does not act on the manipulator, and the clamping jaws of the manipulator are closed.
进一步的，所述全自动包裹、装盒馄饨机包括馄饨坯导料槽、顶部翻边机构、左右翻折捏合机构、落料机构、装盒机构和机架，所述机械手在所述机械手传动机构的带动下做回转运动并且依次经过所述馄饨坯导料槽、所述顶部翻边机构、所述左右翻折捏合机构和所述落料机构；所述机架位于所述导料槽和落料机构处分别安装有夹爪驱动。Further, the fully automatic wrapping and cartoning wonton machine includes a wonton blank guide groove, a top flanging mechanism, a left and right folding and kneading mechanism, a blanking mechanism, a boxing mechanism and a frame, and the manipulator is driven by the manipulator. Driven by the mechanism, it makes a rotary motion and sequentially passes through the wonton blank guide groove, the top flanging mechanism, the left and right folding and kneading mechanism, and the blanking mechanism; the frame is located in the guide groove and A clamping jaw drive is installed at the blanking mechanism.
进一步的，所述机械手包括夹爪基座、夹爪和扭簧，所述夹爪基座连接所述机械手传动机构，一对所述夹爪分设于所述夹爪基座的两侧，所述夹爪包括固定夹片和活动夹片，所述固定夹片安装于所述夹爪基座，所述活动夹片包括依次连接的夹持部、转动部和驱动部，所述活动夹片的夹持部与所述固定夹片的夹持部配合夹持馄饨坯的馅料部位的左侧边缘/右侧边缘，所述转动部通过转轴支撑于所述夹爪基座，所述驱动部伸出夹爪基座，所述扭簧套设于所述转轴上并且两个簧脚分别连接所述夹爪基座和所述转动部，所述夹爪驱动未作用于所述机械手时，所述活动夹片的夹持部在扭簧的作用下向固定夹片一侧压紧以闭合夹爪。Further, the manipulator includes a clamping jaw base, a clamping jaw and a torsion spring, the clamping jaw base is connected to the manipulator transmission mechanism, a pair of the clamping jaws are separately provided on both sides of the clamping jaw base, so The clamping jaw includes a fixed clamping piece and a movable clamping piece, the fixed clamping piece is installed on the clamping jaw base, the movable clamping piece includes a clamping portion, a rotating portion, and a driving portion connected in sequence, the movable clamping piece The clamping part cooperates with the clamping part of the fixed clip to clamp the left edge/right edge of the filling part of the wonton blank, the rotating part is supported on the clamping jaw base through a rotating shaft, and the driving The part extends out of the clamping jaw base, the torsion spring is sleeved on the rotating shaft and the two spring feet are respectively connected to the clamping jaw base and the rotating part, when the clamping jaw drive does not act on the manipulator , The clamping part of the movable clip is pressed to one side of the fixed clip under the action of the torsion spring to close the clamping jaw.
更进一步的，所述夹爪驱动为夹爪凸轮，所述夹爪凸轮安装于面板，所述面板安装于所述机架。Furthermore, the clamping jaw drive is a clamping jaw cam, the clamping jaw cam is mounted on a panel, and the panel is mounted on the frame.
更进一步的，所述固定夹片的夹持部和所述活动夹片的夹持部均垂直于所述夹爪基座的底板。Furthermore, the clamping portion of the fixed clip and the clamping portion of the movable clip are both perpendicular to the bottom plate of the clamping jaw base.
进一步的，所述机械手传动机构为双链式机械手传动机构，夹爪基座的两侧部位通过连接件与双链式机械手传动机构的链条连接。Further, the manipulator transmission mechanism is a double-chain manipulator transmission mechanism, and the two sides of the clamping jaw base are connected with the chain of the double-chain manipulator transmission mechanism through connecting pieces.
进一步的，所述馄饨坯导料槽、所述顶部翻边机构和所述左右翻折捏合机构位于所述机械手传动机构的上方，所述落料机构位于所述机械手传动机构的下方，所述装盒机构位于所述落料机构下方。Further, the wonton blank guide groove, the top flanging mechanism, and the left-right folding and kneading mechanism are located above the manipulator transmission mechanism, and the blanking mechanism is located below the manipulator transmission mechanism. The cartoning mechanism is located below the blanking mechanism.
进一步的，所述顶部翻边机构包括沿传动方向依次设置的预翻折单元和翻边压紧单元，所述预翻折单元包括吹气接头和气源，所述吹气接头设置于所述馄饨坯导料槽下方，所述吹气接头开设有沿馄饨坯宽度方向排布的吹气孔，所述吹气孔朝向馄饨坯的顶部面皮并且与传动方向相同设置，所述气源通过管路与所述吹气接头连接，所述翻边压紧单元包括顶部翻页板和顶部翻边电机，所述顶部翻页板通过连接轴和所述顶部翻边电机传动连接，所述连接轴、所述顶部翻页板均沿馄饨坯宽度方向设置，所述吹气接头、所述顶部翻边电机分别通过支架安装于所述机架。Further, the top flanging mechanism includes a pre-folding unit and a flanging pressing unit that are sequentially arranged along the transmission direction, and the pre-folding unit includes a blowing joint and an air source, and the blowing joint is disposed on the Below the wonton blank guide groove, the blowing joint is provided with blowing holes arranged along the width direction of the wonton blank, and the blowing holes face the top surface of the wonton blank and are arranged in the same direction as the transmission direction. The blowing joint is connected, the flanging pressing unit includes a top flipping plate and a top flanging motor, and the top flipping plate is drivingly connected to the top flanging motor through a connecting shaft, and the connecting shaft and the top flanging motor are drivingly connected. The top page turning plates are all arranged along the width direction of the wonton blank, and the air blowing joint and the top turning motor are respectively mounted on the frame through a bracket.
进一步的，所述左右翻折捏合机构包括捏合挡块以及沿传动方向依次设置的第一翻折单元和第二翻折单元，所述捏合挡块竖立安装于夹爪基座上并且位于一对夹爪之间，所述第一翻折单元包括一对间隔设置的成型导轨，一对所述成型导轨的主体与传动方向平行设置、进料端部形成由外而内渐缩的扩口结构，所述第二翻折单元包括均竖立设置的左侧翻页板和右侧翻页板，所述左侧翻页板和所述右侧翻页板分别连接翻折电机，所述左侧翻页板的侧部下端设有凸块，所述右侧翻页板的侧部下端设有缺口，所述左侧翻页板和右侧翻页板的初始状态与传动方向平行设置、经过翻页驱动转动后与传动方向垂直设置并且所述凸块与所述缺口拼合，一对所述成型导轨、所述翻折电机分别通过支架安装于所述机架。Further, the left-right folding and kneading mechanism includes a kneading stopper and a first folding unit and a second folding unit arranged in sequence along the transmission direction, and the kneading stopper is installed upright on the clamping jaw base and located on a pair of Between the clamping jaws, the first turning unit includes a pair of shaped guide rails arranged at intervals, the main bodies of the pair of shaped guide rails are arranged in parallel with the transmission direction, and the feeding ends form a flaring structure that tapers from the outside to the inside. , The second folding unit includes a left and right page turning plates that are both vertically arranged, and the left and right page turning plates are respectively connected to a turning motor, and the left side The lower end of the side portion of the page turning plate is provided with a bump, the lower end of the side portion of the right page turning plate is provided with a notch, and the initial state of the left page turning plate and the right page turning plate are set parallel to the driving direction, passing through After the page turning drive is rotated, it is arranged perpendicular to the transmission direction and the protrusions are joined with the notches. A pair of the forming guide rails and the turning motors are respectively mounted on the frame through a bracket.
进一步的，所述落料机构包括下拨馄饨夹和下拨气缸，所述下拨馄饨夹与所述下拨气缸的活塞杆连接，所述捏合挡块包括与馄饨坯的馅料部分配合的支撑部，所述支撑部高于所述夹爪基座的底板并与两侧的夹爪间隔设置，所述下拨馄饨夹设有一对间隔设置的拨杆，当所述机械手运动至落料机构时，一对拨杆分别伸入支撑部与两侧夹爪之间的间隙。Further, the blanking mechanism includes a downward shifting wonton clamp and a downward shifting cylinder, the downward shifting wonton clamp is connected with the piston rod of the downward shifting cylinder, and the kneading stop includes a portion that matches the filling part of the wonton blank. The support part is higher than the bottom plate of the clamping jaw base and is spaced apart from the clamping jaws on both sides, and the lower dial ravioli clamp is provided with a pair of spaced dial rods. When the manipulator moves to blanking During the mechanism, a pair of levers respectively extend into the gap between the supporting part and the clamping jaws on both sides.
更进一步的，所述落料机构还包括落料桶，所述落料桶沿竖向设置并且通过支架安装于所述机架。Furthermore, the blanking mechanism further includes a blanking bucket, which is arranged in a vertical direction and is mounted on the frame through a bracket.
进一步的，所述装盒机构包括托盘和托盘传动机构，所述托盘传动机构的运动回转面垂直于所述机械手传动机构的运动回转面。Further, the cartoning mechanism includes a tray and a tray transmission mechanism, and the movement rotation surface of the tray transmission mechanism is perpendicular to the movement rotation surface of the manipulator transmission mechanism.
有益效果Beneficial effect
本发明的全自动包裹、装盒馄饨机，机械手和夹爪驱动分开设置，机械手通过机械手传动机构带动经过夹爪驱动实现夹爪张开，一方面，通过一个夹爪驱动配合多个机械手，能够减少夹爪驱动的数量需求，简化机械手结构，降低成本，另一方面，当夹爪驱动设置为凸轮时，还能够免除线路排布以及进一步降低成本；此外，机械手在机械手传动机构的带动下依次经过馄饨坯导料槽、顶部翻边机构、左右翻折捏合机构和落料机构以实现原有的落料、顶部面皮翻折、左右两侧面皮捏合以及落料的连续操作，将顶部翻边机构、左右翻折捏合机构分别独立于机械手设置，一方面，减少了顶部翻边机构、左右翻折捏合机构的数量需求，能够简化结构，降低设备成本，另一方面，相关驱动与机械手分开设置，线路排布容易。In the fully automatic wrapping and cartoning ravioli machine of the present invention, the manipulator and the clamping jaw drive are arranged separately, and the manipulator is driven by the manipulator transmission mechanism to realize the clamping jaw opening through the clamping jaw drive. On the one hand, one clamping jaw is driven to cooperate with multiple manipulators. Reduce the number of gripper drive requirements, simplify the structure of the manipulator, and reduce costs. On the other hand, when the gripper drive is set as a cam, it can also eliminate the wiring arrangement and further reduce the cost; in addition, the manipulator is driven by the manipulator transmission mechanism. After wonton blank guide trough, top flanging mechanism, left and right folding kneading mechanism and blanking mechanism to realize the original blanking, top crust folding, left and right side crust kneading and blanking continuous operation, the top cuffing The mechanism and the left-right folding and kneading mechanism are set independently of the manipulator. On the one hand, it reduces the number of top-flanging mechanisms and the left-right folding and kneading mechanism, which can simplify the structure and reduce equipment costs. On the other hand, the related drive is set separately from the manipulator. , The line layout is easy.
附图说明Description of the drawings
图1为本发明实施例的整体结构示意图。Fig. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
图2为本发明实施例的俯视结构示意图，其中，装盒机构和部分支架未示出。Figure 2 is a schematic top view of the structure of the embodiment of the present invention, in which the cartoning mechanism and part of the bracket are not shown.
图3为本发明实施例的主视结构示意图，其中，装盒机构和部分支架未示出。Figure 3 is a schematic front view of the structure of an embodiment of the present invention, in which the cartoning mechanism and part of the bracket are not shown.
图4为本发明实施例的机械手、馄饨坯导料槽和顶部翻边机构配合的结构示意图。Fig. 4 is a schematic structural diagram of the cooperation of the manipulator, the wonton blank guide groove and the top flanging mechanism according to the embodiment of the present invention.
图5为本发明实施例的机械手、翻边压紧单元和左右翻折捏合机构配合的结构示意图。Fig. 5 is a schematic structural diagram of the cooperation of the manipulator, the flanging pressing unit and the left and right folding and kneading mechanism according to the embodiment of the present invention.
图6为本发明实施例的馄饨坯导料槽的结构示意图。Fig. 6 is a schematic structural diagram of a wonton blank guide groove according to an embodiment of the present invention.
图7为本发明实施例的预翻折单元的结构示意图。Fig. 7 is a schematic structural diagram of a pre-folding unit according to an embodiment of the present invention.
图8为本发明实施例的机械手的第一视角结构示意图，其中，夹爪驱动未示出。FIG. 8 is a first view structural schematic diagram of the manipulator according to the embodiment of the present invention, in which the clamping jaw driving is not shown.
图9为本发明实施例的机械手的第二视角结构示意图，其中，夹爪驱动未示出。Fig. 9 is a schematic structural diagram of a manipulator according to an embodiment of the present invention from a second perspective, in which the clamping jaw driving is not shown.
图10为本发明实施例的机械手的第三视角结构示意图，其中，夹爪驱动未示出。FIG. 10 is a schematic view of a third perspective structure of the manipulator according to the embodiment of the present invention, in which the clamping jaw drive is not shown.
图11为本发明实施例的夹爪驱动的结构示意图。FIG. 11 is a schematic diagram of the structure of the clamping jaw drive according to the embodiment of the present invention.
图12为本发明实施例的翻边压紧单元的结构示意图。Fig. 12 is a schematic structural diagram of a flanging pressing unit according to an embodiment of the present invention.
图13为本发明实施例的第一翻折单元的结构示意图。Fig. 13 is a schematic structural diagram of a first folding unit according to an embodiment of the present invention.
图14为本发明实施例的第二翻折单元的第一视角的结构示意图。FIG. 14 is a schematic structural diagram from a first perspective of a second folding unit according to an embodiment of the present invention.
图15为本发明实施例的第二翻折单元的第二视角的结构示意图。FIG. 15 is a schematic structural diagram of a second viewing angle of a second folding unit according to an embodiment of the present invention.
图16为本发明实施例的机械手与馅料弯曲单元配合的俯视结构示意图。FIG. 16 is a schematic top view of the structure of the robot arm and the filling bending unit according to the embodiment of the present invention.
图17为本发明实施例的平衡导轨、内折导轨的结构示意图。Figure 17 is a schematic diagram of the structure of a balanced rail and an inwardly folded rail according to an embodiment of the present invention.
图18为本发明实施例的机械手与传动机构配合的结构示意图。FIG. 18 is a schematic diagram of the structure of the manipulator and the transmission mechanism in the embodiment of the present invention.
图19为本发明实施例的落料机构的结构示意图。Fig. 19 is a schematic structural diagram of a blanking mechanism according to an embodiment of the present invention.
图20为本发明实施例的装盒机构的结构示意图。Figure 20 is a schematic structural diagram of a box loading mechanism according to an embodiment of the present invention.
本发明的实施方式Embodiments of the present invention
如图1~图20所示，一种全自动包裹、装盒馄饨机，其包括机械手100、机械手传动机构200、馄饨坯导料槽300、顶部翻边机构、左右翻折捏合机构、落料机构600、装盒机构700和机架，机械手100在机械手传动机构200的带动下在竖向平面内做回转运动并且依次经过馄饨坯导料槽300、顶部翻边机构、左右翻折捏合机构和落料机构600；馄饨坯导料槽300、顶部翻边机构和左右翻折捏合机构位于机械手传动机构200的上方，落料机构600位于机械手传动机构200的下方，装盒机构700位于落料机构600下方，使得机械手100于回转轨迹下方时处于倒置状态，而其夹持的馄饨则处于正立状态；机架位于导料槽300和落料机构600处分别安装有夹爪驱动，当机械手100经过馄饨坯导料槽300、落料机构600时，夹爪驱动作用于机械手100，机械手100的夹爪张开，当机械手100离开馄饨坯导料槽300、落料机构600后，夹爪驱动未作用于机械手100，机械手100的夹爪闭合。其中，导料槽包括壳体301、第一导向板302和第二导向板303，壳体301设有与馄饨坯匹配的落料口，壳体301位于落料口下方的中间部位设有一对第一导向板302、两侧部位各设有一对第二导向板303，第一导向板302和第二导向板303间隔设置，能够减小与馄饨坯的接触面积，防止馄饨坯粘住。As shown in Figure 1-20, a fully automatic wrapping and cartoning wonton machine includes a manipulator 100, a manipulator transmission mechanism 200, a wonton blank guide groove 300, a top flanging mechanism, a left and right folding and kneading mechanism, and a blanking mechanism. The mechanism 600, the cartoning mechanism 700 and the frame, the manipulator 100 is driven by the manipulator transmission mechanism 200 to make a rotary motion in the vertical plane and pass through the wonton blank guide groove 300, the top flanging mechanism, the left and right folding and kneading mechanism and The blanking mechanism 600; the wonton blank guide groove 300, the top flanging mechanism and the left and right folding and kneading mechanism are located above the manipulator transmission mechanism 200, the blanking mechanism 600 is located below the manipulator transmission mechanism 200, and the cartoning mechanism 700 is located at the blanking mechanism Below 600, the manipulator 100 is in an upside-down state when it is under the revolving trajectory, and the wontons held by it are in an upright state; the rack is located at the guide groove 300 and the blanking mechanism 600, respectively, which is equipped with clamping jaw drives. When the manipulator 100 When passing through the wonton blank guide groove 300 and the blanking mechanism 600, the clamping jaws act on the manipulator 100, and the clamping jaws of the manipulator 100 are opened. When the manipulator 100 leaves the wonton blank guide groove 300 and the blanking mechanism 600, the clamping jaws drive Without acting on the manipulator 100, the jaws of the manipulator 100 are closed. Wherein, the guide trough includes a shell 301, a first guide plate 302 and a second guide plate 303. The shell 301 is provided with a blanking port that matches the wonton blank, and the shell 301 is provided with a pair of blanks in the middle part below the blanking port. A pair of second guide plates 303 are provided on both sides of the first guide plate 302, and the first guide plate 302 and the second guide plate 303 are arranged at intervals, which can reduce the contact area with the wonton blank and prevent the wonton blank from sticking.
机械手传动机构200为双链式机械手传动机构200，链条201采用板式链条，链条201外侧设有与链条平行设置的平衡导轨202。The manipulator transmission mechanism 200 is a double-chain type manipulator transmission mechanism 200. The chain 201 adopts a plate chain, and the outer side of the chain 201 is provided with a balance rail 202 arranged in parallel with the chain.
机械手100包括夹爪基座、夹爪和扭簧，夹爪基座包括底板101和基板102，底板101通过连接柱103固定于基板102上方，基板102的底面两侧分别与链条的连接板固定连接，基板102侧面分别设有导向滚子122，导向滚子122沿平衡导轨202的槽体移动，一对夹爪分设于夹爪基座的两侧，夹爪包括固定夹片104和活动夹片105，固定夹片104安装于夹爪基座，活动夹片105包括依次连接的夹持部106、转动部107和驱动部108，活动夹手的夹持部106与固定夹片104的夹持部106均垂直于夹爪基座（能够防止馄饨坯左右两侧露馅）并且相互配合夹持馄饨坯的馅料部位的左侧边缘/右侧边缘，转动部107通过夹爪转轴115支撑于夹爪基座，驱动部108伸出夹爪基座，扭簧套设于夹爪转轴115上并且两个簧脚分别连接夹爪基座和转动部107，夹爪驱动117未作用于机械手100时，夹持部106在扭簧的作用下向固定夹片104一侧压紧以闭合夹爪；具体的，夹爪驱动117为夹爪凸轮，导料槽下方、各落料机构上方分别对应设有夹爪凸轮，驱动部的端部下方安装有与夹爪凸轮配合的万向滚珠124，夹爪凸轮安装于面板116，面板上可以开设有与万向滚珠导向配合的沟槽，面板116安装于机架，扭簧用于在夹爪驱动117未工作的状态下，将夹持部106向固定夹片104一侧压紧以闭合夹爪，当所述机械手100经过所述馄饨坯导料槽300、所述落料机构600时，活动夹爪的驱动部108沿凸轮的前端提升部位118运动，迫使活动夹爪绕转轴转动，将夹持部106向远离固定夹片104一侧运动以张开夹爪，到达凸轮的顶点119时夹爪张开至最大，活动夹爪的驱动部108沿凸轮的后端下降部位120运动，活动夹爪在扭簧的作用下绕夹爪转轴115反向旋转，夹爪逐步闭合。所述夹爪基座的底板101的两侧部位分别通过内折转轴109转动连接有内折连接板110，所述内折连接板110上固定有夹片座体114，所述固定夹片104和所述活动夹片105均安装于夹片座体114，两个夹片座体的端部连接有内折复位弹簧123。The manipulator 100 includes a jaw base, a jaw and a torsion spring. The jaw base includes a base plate 101 and a base plate 102. The base plate 101 is fixed above the base plate 102 through a connecting column 103. The two sides of the bottom surface of the base plate 102 are respectively fixed to the connecting plate of the chain. Connected, the side of the base plate 102 is provided with guide rollers 122 respectively, and the guide rollers 122 move along the groove of the balance rail 202. A pair of clamping jaws are separately arranged on both sides of the clamping jaw base. The clamping jaws include a fixed clip 104 and a movable clip. The fixed clip 104 is mounted on the jaw base. The movable clip 105 includes a clamping portion 106, a rotating portion 107, and a driving portion 108 connected in sequence. The clamping portion 106 of the movable gripper and the fixed clip 104 are clamped The holding parts 106 are perpendicular to the clamping jaw base (to prevent the left and right sides of the wonton blank from being exposed) and cooperate with each other to clamp the left edge/right edge of the filling part of the wonton blank. The rotating part 107 is supported by the clamping jaw shaft 115 The gripper base, the driving part 108 extends out of the gripper base, the torsion spring is sleeved on the gripper shaft 115 and the two spring legs are respectively connected to the gripper base and the rotating part 107, the gripper drive 117 does not act on the manipulator 100 When the clamping part 106 is pressed to the side of the fixed clip 104 under the action of the torsion spring to close the clamping jaws; specifically, the clamping jaw drive 117 is a clamping jaw cam, and the lower part of the guide groove and the upper part of each blanking mechanism correspond to There is a clamping jaw cam. A universal ball 124 is installed under the end of the driving part to cooperate with the clamping jaw cam. The clamping jaw cam is installed on the panel 116. The panel can be provided with grooves that cooperate with the universal ball guide. The panel 116 Installed on the frame, the torsion spring is used to press the clamping portion 106 to the side of the fixed clip 104 to close the clamping jaw when the clamping jaw drive 117 is not working. When the manipulator 100 passes the wonton blank guide When the chute 300 and the blanking mechanism 600 are used, the driving part 108 of the movable jaw moves along the lifting part 118 of the front end of the cam, forcing the movable jaw to rotate around the rotating shaft, and move the clamping part 106 to the side away from the fixed clip 104 To open the clamping jaws, the clamping jaws are expanded to the maximum when reaching the apex 119 of the cam. The driving part 108 of the movable clamping jaws moves along the lower part 120 of the rear end of the cam. The movable clamping jaws rotate around the rotation axis 115 of the clamping jaws under the action of the torsion spring. Reverse rotation, the jaws gradually close. The two sides of the bottom plate 101 of the jaw base are respectively rotatably connected with an inner folding connecting plate 110 through an inner folding rotating shaft 109. A clip seat body 114 is fixed on the inner folding connecting plate 110, and the fixed clip 104 Both the movable clip 105 and the movable clip 105 are installed on the clip base 114, and the ends of the two clip bases are connected with an inwardly folded return spring 123.
顶部翻边机构包括沿传动方向依次设置的预翻折单元400a和翻边压紧单元400b，预翻折单元400a包括吹气接头和气源，吹气接头设置于馄饨坯导料槽300下方并通过吹气支架支撑于机架上，吹气接头为T字形，其横向部位411开设有沿馄饨坯宽度方向排布的吹气孔413、纵向部位412通过管路与气源连接，吹气孔朝向馄饨坯的顶部面皮并且与传动方向相同设置，气源通过管路与吹气接头连接，翻边压紧单元400b包括顶部翻页板421和顶部翻边电机422，顶部翻边电机422连接直角轴双轴输出减速器423，直角轴双轴输出减速器423通过顶部翻边支架428支撑于机架上，直角轴双轴输出减速器423的两个输出端分别通过第一联轴器424、第一连接轴425和顶部翻页板421传动连接，其中连接轴425通过直角轴承座426支撑于顶部翻边支架428，连接轴、顶部翻页板421均沿馄饨坯宽度方向设置，直角轴双轴输出减速器的下部通过密封罩427罩设以保证食品加工清洁要求。刚由馄饨坯导料槽300送料至相应机械手100夹持的馄饨坯，在翻折单元的吹气作用下，其顶部面皮立即向传动方向一侧预翻折，能够避免顶部面皮朝传动方向相反的一侧塌落，在翻边压紧单元400b的翻页板转动作用下，馄饨坯的预翻折后的顶部面皮进一步下翻并与馅料部分的面皮压紧，通过旋转的顶部翻页板421替代了固定的挡块，顶部面皮翻转压紧的过程更加柔和，造型更加准确。The top flanging mechanism includes a pre-folding unit 400a and a flanging pressing unit 400b that are sequentially arranged along the transmission direction. The pre-folding unit 400a includes a blowing joint and an air source. The blowing joint is arranged under the wonton blank guide groove 300 and It is supported on the frame by the blowing bracket, the blowing joint is T-shaped, and the horizontal part 411 is provided with blowing holes 413 arranged along the width direction of the wonton blank, and the longitudinal part 412 is connected to the air source through the pipeline, and the blowing holes face the wonton. The top surface of the blank is set in the same direction as the transmission direction. The air source is connected to the blowing joint through a pipeline. The flanging pressing unit 400b includes a top flipping plate 421 and a top flanging motor 422. The top flanging motor 422 is connected to the double right-angle shaft. Shaft output reducer 423, right-angled shaft dual-shaft output reducer 423 is supported on the frame through the top flange bracket 428, the two output ends of the right-angled shaft dual-shaft output reducer 423 are respectively passed through the first coupling 424, the first The connecting shaft 425 and the top turning plate 421 are in transmission connection. The connecting shaft 425 is supported by the top turning bracket 428 through the right-angle bearing seat 426. The connecting shaft and the top turning plate 421 are arranged along the width direction of the wonton blank. The right-angle shaft is outputted by two shafts. The lower part of the reducer is covered by a sealing cover 427 to ensure clean food processing requirements. The wonton billet just fed by the wonton billet guide groove 300 to the wonton billet held by the corresponding manipulator 100, under the blowing action of the turning unit, the top surface of the wonton billet is immediately pre-folded to the side of the transmission direction, which can prevent the top surface from facing the opposite direction of the transmission. Under the action of the turning plate of the flanging pressing unit 400b, the pre-folded top crust of the wonton blank is further turned down and pressed against the filling part of the crust, and the page is turned through the rotating top The plate 421 replaces a fixed stop, the top surface is turned and pressed more softly, and the shape is more accurate.
左右翻折捏合机构包括捏合挡块111以及沿传动方向依次设置的第一翻折单元500a和第二翻折单元500b，捏合挡块111安装于夹爪基座上并且位于一对夹爪之间，捏合挡块111包括竖立的捏合部113和卧式的支撑部112，第一翻折单元500a包括一对间隔设置的成型导轨510，一对成型导轨510通过第一翻折支架支撑于机架上，一对成型导轨510的主体511与传动方向平行设置、进料端部512形成由外而内渐缩的扩口结构，第二翻折单元500b包括均竖立设置的左侧翻页板521和右侧翻页板522，左侧翻页板521和右侧翻页板522分别通过第二连接轴523、第二联轴器524连接翻折电机525，翻折电机525通过第二翻折支架526支撑于机架上，左侧翻页板521的侧部下端设有凸块528，右侧翻页板522的侧部下端设有缺口，左侧翻页板521和右侧翻页板522的初始状态与传动方向平行设置、经过翻页驱动转动后与传动方向垂直设置并且凸块528与缺口拼合，左侧翻页板521和右侧翻页板522上设有密封箱527以保证食品加工清洁要求。夹持于机械手100上的馄饨坯依次经过第一翻折单元500a和第二翻折单元500b，其左右两侧面皮先在成型导轨510的挤压作用下翻折90°，然后在左侧翻页板521、右侧翻页板522的翻转作用下再次翻折90°并与捏合挡块的捏合部113端面接触，其中，左右两侧面皮捏合过程中需要左侧面皮部分搭接于右侧面皮外，右侧翻页板522翻转到位后，右侧面皮与左侧面皮搭接的部位外露于缺口，使得右侧翻页板522在左右两侧面皮捏合的过程中无需复位，以维持右侧面皮相应翻折状态，左侧面皮翻折到位的同时于缺口处实现与右侧面皮的搭接，并通过与缺口拼合的凸块528将左右两侧面皮搭接的部位挤压捏合，使得馄饨坯的左右两侧面皮捏合牢固，后期不易分离。The left-right folding and kneading mechanism includes a kneading stop 111 and a first folding unit 500a and a second folding unit 500b arranged in sequence along the transmission direction. The kneading stop 111 is installed on the jaw base and located between a pair of jaws The kneading block 111 includes an upright kneading portion 113 and a horizontal support portion 112. The first turning unit 500a includes a pair of shaped guide rails 510 spaced apart, and the pair of shaped guide rails 510 are supported on the frame through the first folding bracket. Above, the main bodies 511 of a pair of forming guide rails 510 are arranged in parallel with the transmission direction, and the feeding end 512 forms a flaring structure that tapers from the outside to the inside. The second folding unit 500b includes a left-side turning plate 521 that is both vertically arranged. And the right page turning plate 522, the left page turning plate 521 and the right page turning plate 522 are respectively connected to the turning motor 525 through the second connecting shaft 523 and the second coupling 524, and the turning motor 525 passes through the second turning The bracket 526 is supported on the frame, the left side of the page turning plate 521 is provided with a bump 528 at the lower end of the side, the right side of the page turning plate 522 is provided with a notch at the lower end of the side, the left page turning plate 521 and the right page turning plate The initial state of 522 is set parallel to the transmission direction, and after the page turning drive is rotated, it is set perpendicular to the transmission direction, and the protrusion 528 is combined with the notch. The left page turning plate 521 and the right page turning plate 522 are provided with a sealed box 527 to ensure Food processing cleanliness requirements. The wonton blanks clamped on the manipulator 100 pass through the first turning unit 500a and the second turning unit 500b in sequence, and the left and right side skins are first turned 90° under the squeezing action of the forming guide 510, and then turned on the left side. The page plate 521 and the right page turning plate 522 are turned over again by 90° and contact with the end surface of the kneading part 113 of the kneading stop. Among them, the left and right sides need to be overlapped on the right side during the kneading process of the left and right sides. Outside the noodles, after the right flipping plate 522 is turned in place, the overlapping part of the right noodles and the left noodles is exposed in the gap, so that the right flipping plate 522 does not need to be reset during the process of kneading the left and right sides to maintain the right. The side skins are folded correspondingly. The left side skin is folded in place and overlaps with the right side skin at the notch, and the overlapped parts of the left and right side skins are squeezed and kneaded by the bumps 528 joined with the notch. The left and right sides of the wonton blank are firmly kneaded and are not easy to separate in the later stage.
左右翻折捏合机构还包括馅料弯曲单元，馅料弯曲单元包括一对平行设置的侧置U形导轨530，U形导轨的自成型导轨延伸至落料机构，夹爪夹持馄饨坯后，机械手两侧的内折连接板110通过内折滚子121与内折导轨530作用下，克服内折复位弹簧123的作用，相向转动，带动馄饨坯的馅料部分弯折呈半圆弧形，进而在面皮尺寸较小、左右两侧的面皮无法搭接的情况下，通过将馅料部分弯曲以缩小其宽度，使得左右两侧的面皮能够顺利搭接，并且将馅料部分弯折呈半圆弧形的状态维持至落料机构，确保定形。The left-right folding and kneading mechanism also includes a filling bending unit. The filling bending unit includes a pair of parallel U-shaped guide rails 530. The U-shaped guide rail extends from the forming guide rail to the blanking mechanism. After the claws clamp the wonton blank, The inwardly folded connecting plates 110 on both sides of the manipulator overcome the effect of the inwardly folded return spring 123 under the action of the inwardly folded roller 121 and the inwardly folded guide 530 to rotate toward each other, and drive the filling part of the wonton blank to bend into a semi-circular arc shape. When the noodles are small in size and the left and right sides of the noodles cannot be overlapped, by bending the filling part to reduce its width, the left and right sides of the noodles can be smoothly overlapped, and the filling part is bent into a semi-circular arc The state of the shape is maintained to the blanking mechanism to ensure the shape.
落料机构600包括下拨馄饨夹601和下拨气缸，下拨馄饨夹601与下拨气缸的活塞杆连接，捏合挡块包括与馄饨坯的馅料部分配合的支撑部，支撑部高于夹爪基座的底板并与两侧的夹爪间隔设置，下拨馄饨夹601包括一对间隔设置的拨杆602，拨杆602安装于连杆603上，连杆603连接下拨气缸的活塞杆，当机械手100运动至落料机构600时，一对拨杆602分别伸入支撑部与两侧夹爪之间的间隙（馄饨坯支撑于捏合挡块的支撑部112上，而支撑部安装于底板上，即馄饨坯与底板之间留有间隙），下拨气缸作用，带动下拨馄饨夹601向下移动，馄饨脱离机械手100落至托盘内；落料机构600还包括落料桶604，落料桶604沿竖向设置并且通过落料支架安装于机架。落料机构600的设置，能够防止馄饨粘合于夹持部，确保每个馄饨都能顺利脱离机械手100。The blanking mechanism 600 includes a downward shifting wonton clamp 601 and a downward shifting cylinder. The downward shifting wonton clamp 601 is connected with the piston rod of the downward shifting cylinder. The kneading stop includes a support part that matches the filling part of the wonton blank, and the support part is higher than the clamp. The bottom plate of the claw base is spaced from the clamping claws on both sides. The downward shifting wonton clamp 601 includes a pair of shifting rods 602 arranged at intervals. The shifting rods 602 are installed on the connecting rod 603, and the connecting rod 603 is connected to the piston rod of the lowering cylinder. When the manipulator 100 moves to the blanking mechanism 600, a pair of levers 602 respectively extend into the gap between the support portion and the clamping jaws on both sides (the wonton blank is supported on the support portion 112 of the kneading block, and the support portion is mounted on On the bottom plate, that is, there is a gap between the wonton blank and the bottom plate), the downward shifting cylinder acts to drive the downward shifting wonton clamp 601 to move downwards, and the wontons are separated from the manipulator 100 and fall into the tray; the blanking mechanism 600 also includes a blanking bucket 604, The blanking barrel 604 is vertically arranged and installed on the frame through a blanking bracket. The setting of the blanking mechanism 600 can prevent wontons from adhering to the clamping part, and ensure that each wonton can be smoothly separated from the manipulator 100.
装盒机构700包括托盘701、托盘传动机构702和调节机构，托盘传动机构的运动回转面垂直于机械手传动机构200的运动回转面。调节机构包括直线滑轨副704、同步带703等，托盘传动机构702下方的中间部位通过安装附件与同步带703相连、两侧部位通过直线滑轨副704与装盒支架导向配合，托盘传动机构702的电机带动传送带运动实现托盘运输、定位。当双工位或多工位时，落料机构的出料口位置不同故托盘的摆放位置也不同，同步带带动托盘传动机构沿直线滑轨副移动，以调节相对位置。The cartoning mechanism 700 includes a tray 701, a tray transmission mechanism 702, and an adjustment mechanism. The movement rotation surface of the tray transmission mechanism is perpendicular to the movement rotation surface of the manipulator transmission mechanism 200. The adjustment mechanism includes a linear slide rail pair 704, a timing belt 703, etc. The middle part of the tray drive mechanism 702 is connected to the timing belt 703 through an installation accessory, and the two sides are guided by a linear slide rail pair 704 and a boxing bracket. The tray drive mechanism The 702 motor drives the conveyor belt to move and realize pallet transportation and positioning. When double-station or multi-station, the position of the discharge port of the blanking mechanism is different, so the placement position of the tray is also different. The synchronous belt drives the tray transmission mechanism to move along the linear slide rail pair to adjust the relative position.

Claims (10)

  1. 一种全自动包裹、装盒馄饨机，其包括机械手、机械手传动机构和夹爪驱动，其特征在于：所述机械手与所述夹爪驱动分开设置，所述机械手连接所述机械手传动机构；当所述机械手在所述机械手传动机构的带动下经过所述夹爪驱动时，所述夹爪驱动作用于所述机械手，所述机械手的夹爪张开；当所述机械手传动机构带动机械手离开所述夹爪驱动后，所述夹爪驱动未作用于所述机械手，所述机械手的夹爪闭合。A fully automatic wrapping and cartoning wonton machine, comprising a manipulator, a manipulator transmission mechanism and a gripper drive, characterized in that: the manipulator and the gripper drive are arranged separately, and the manipulator is connected to the manipulator transmission mechanism; When the manipulator is driven by the gripper under the drive of the manipulator transmission mechanism, the gripper drive acts on the manipulator, and the gripper of the manipulator opens; when the manipulator transmission mechanism drives the manipulator to leave the After the clamping jaw is driven, the clamping jaw drive does not act on the manipulator, and the clamping jaws of the manipulator are closed.
  2. 根据权利要求1所述的一种全自动包裹、装盒馄饨机，其特征在于：所述全自动包裹、装盒馄饨机包括馄饨坯导料槽、顶部翻边机构、左右翻折捏合机构、落料机构、装盒机构和机架，所述机械手在所述机械手传动机构的带动下做回转运动并且依次经过所述馄饨坯导料槽、所述顶部翻边机构、所述左右翻折捏合机构和所述落料机构；所述机架位于所述导料槽和落料机构处分别安装有夹爪驱动。The fully automatic wrapping and cartoning wonton machine according to claim 1, characterized in that: the fully automatic wrapping and cartoning wonton machine comprises a wonton blank guide groove, a top flanging mechanism, a left and right folding and kneading mechanism, The blanking mechanism, the boxing mechanism and the frame, the manipulator is driven by the manipulator transmission mechanism to make a rotary motion and pass through the wonton blank guide groove, the top flanging mechanism, and the left and right folding and kneading in sequence Mechanism and the blanking mechanism; the frame is located at the guide trough and the blanking mechanism, respectively, with clamping jaw drives installed.
  3. 根据权利要求2所述的一种全自动包裹、装盒馄饨机，其特征在于：所述馄饨坯导料槽、所述顶部翻边机构和所述左右翻折捏合机构位于所述机械手传动机构的上方，所述落料机构位于所述机械手传动机构的下方，所述装盒机构位于所述落料机构下方。The fully automatic wrapping and cartoning wonton machine according to claim 2, characterized in that: the wonton blank guide groove, the top flanging mechanism and the left and right folding and kneading mechanism are located in the manipulator transmission mechanism Above the blanking mechanism, the blanking mechanism is located below the manipulator transmission mechanism, and the cartoning mechanism is located below the blanking mechanism.
  4. 根据权利要求2所述的一种全自动包裹、装盒馄饨机，其特征在于：所述机械手包括夹爪基座、夹爪和扭簧，所述夹爪基座连接所述机械手传动机构，一对所述夹爪分设于所述夹爪基座的两侧，所述夹爪包括固定夹片和活动夹片，所述固定夹片安装于所述夹爪基座，所述活动夹片包括依次连接的夹持部、转动部和驱动部，所述活动夹片的夹持部与所述固定夹片的夹持部配合夹持馄饨坯的馅料部位的左侧边缘/右侧边缘，所述转动部通过转轴支撑于所述夹爪基座，所述驱动部伸出夹爪基座，所述扭簧套设于所述转轴上并且两个簧脚分别连接所述夹爪基座和所述转动部，所述夹爪驱动未作用于所述机械手时，所述活动夹片的夹持部在扭簧的作用下向固定夹片一侧压紧以闭合夹爪。The fully automatic wrapping and cartoning wonton machine according to claim 2, characterized in that: the manipulator includes a clamping jaw base, a clamping jaw and a torsion spring, and the clamping jaw base is connected to the manipulator transmission mechanism, A pair of the clamping jaws are separately arranged on both sides of the clamping jaw base, and the clamping jaws include a fixed clamping piece and a movable clamping piece, the fixed clamping piece is installed on the clamping jaw base, the movable clamping piece It comprises a clamping part, a rotating part and a driving part which are connected in sequence. The clamping part of the movable clip and the clamping part of the fixed clip cooperate to clamp the left edge/right edge of the filling part of the wonton blank The rotating part is supported on the clamping jaw base through a rotating shaft, the driving part extends out of the clamping jaw base, the torsion spring is sleeved on the rotating shaft and two spring feet are respectively connected to the clamping jaw base When the clamping jaw drive does not act on the manipulator for the seat and the rotating part, the clamping part of the movable clamping piece is pressed against the fixed clamping piece under the action of the torsion spring to close the clamping jaw.
  5. 根据权利要求4所述的一种全自动包裹、装盒馄饨机，其特征在于：所述夹爪驱动为夹爪凸轮，所述夹爪凸轮安装于面板，所述面板安装于所述全自动包裹、装盒馄饨机的机架。The fully automatic wrapping and cartoning wonton machine according to claim 4, characterized in that: the clamping jaw drive is a clamping jaw cam, the clamping jaw cam is mounted on a panel, and the panel is mounted on the fully automatic Rack for wrapping and boxing wonton machine.
  6. 根据权利要求4所述的一种全自动包裹、装盒馄饨机，其特征在于：所述固定夹片的夹持部和所述活动夹片的夹持部均垂直于所述夹爪基座的底板。A fully automatic wrapping and boxing wonton machine according to claim 4, characterized in that: the clamping part of the fixed clip and the clamping part of the movable clip are both perpendicular to the clamping jaw base Of the bottom plate.
  7. 根据权利要求4所述的一种全自动包裹、装盒馄饨机，其特征在于：所述机械手传动机构为双链式机械手传动机构，夹爪基座的两侧部位通过连接件与双链式机械手传动机构的链条连接。The fully automatic wrapping and cartoning wonton machine according to claim 4, characterized in that: the manipulator transmission mechanism is a double-chain type manipulator transmission mechanism, and the two sides of the clamping jaw base are connected with the double-chain type through connecting pieces. Chain connection of manipulator transmission mechanism.
  8. 根据权利要求7所述的一种全自动包裹、装盒馄饨机，其特征在于：所述顶部翻边机构包括沿传动方向依次设置的预翻折单元和翻边压紧单元，所述预翻折单元包括吹气接头和气源，所述吹气接头设置于所述馄饨坯导料槽下方，所述吹气接头开设有沿馄饨坯宽度方向排布的吹气孔，所述吹气孔朝向馄饨坯的顶部面皮并且与传动方向同向设置，所述气源通过管路与所述吹气接头连接，所述翻边压紧单元包括顶部翻页板和顶部翻边电机，所述顶部翻页板通过连接轴和所述顶部翻边电机传动连接，所述连接轴、所述顶部翻页板均沿馄饨坯宽度方向设置，所述吹气接头、所述顶部翻边电机分别通过支架安装于所述机架。The fully automatic wrapping and cartoning wonton machine according to claim 7, characterized in that: the top flanging mechanism comprises a pre-folding unit and a flanging pressing unit which are sequentially arranged along the transmission direction, and the pre-folding The folding unit includes an air blowing joint and an air source, the air blowing joint is arranged below the wonton blank guide groove, the air blowing joint is provided with air blowing holes arranged along the width direction of the wonton blank, and the air blowing holes face the wonton The top surface of the blank is arranged in the same direction as the transmission direction, the air source is connected to the blowing connector through a pipeline, the flanging pressing unit includes a top flipping plate and a top flipping motor, and the top flipping The plate is connected to the top flanging motor by a connecting shaft, the connecting shaft and the top flipping plate are both arranged along the width direction of the wonton blank, and the air blowing joint and the top flanging motor are respectively mounted on a bracket through a bracket. The rack.
  9. 根据权利要求7所述的一种全自动包裹、装盒馄饨机，其特征在于：所述左右翻折捏合机构包括捏合挡块以及沿传动方向依次设置的第一翻折单元和第二翻折单元，所述捏合挡块竖立安装于夹爪基座上并且位于一对夹爪之间，所述第一翻折单元包括一对间隔设置的成型导轨，一对所述成型导轨的主体与传动方向平行设置、进料端部形成由外而内渐缩的扩口结构，所述第二翻折单元包括均竖立设置的左侧翻页板和右侧翻页板，所述左侧翻页板和所述右侧翻页板分别连接翻折电机，所述左侧翻页板的侧部下端设有凸块，所述右侧翻页板的侧部下端设有缺口，所述左侧翻页板和右侧翻页板的初始状态与传动方向平行设置、经过翻页驱动转动后与传动方向垂直设置并且所述凸块与所述缺口拼合，一对所述成型导轨、所述翻折电机分别通过支架安装于所述机架。The fully automatic wrapping and cartoning wonton machine according to claim 7, characterized in that: the left-right folding and kneading mechanism comprises a kneading stopper and a first folding unit and a second folding unit arranged in sequence along the transmission direction. Unit, the kneading stopper is installed upright on the clamping jaw base and located between a pair of clamping jaws, the first turning unit includes a pair of forming rails arranged at intervals, a pair of main bodies of the forming rails and a transmission The directions are arranged in parallel, and the feeding end forms a flaring structure that tapers from the outside to the inside. The second folding unit includes a left page and a right page that are both erected, and the left page is turned Plate and the right page turning plate are respectively connected to a turning motor, the lower side of the left page turning plate is provided with bumps, the lower end of the side of the right page turning plate is provided with a notch, the left side The initial state of the page-turning plate and the right-side page-turning plate are arranged parallel to the transmission direction, and are arranged perpendicular to the transmission direction after being rotated by the page-turning drive, and the protrusions are combined with the notches. A pair of the forming guide rail and the turning The folding motors are respectively installed on the frame through brackets.
  10. 根据权利要求9所述的一种全自动包裹、装盒馄饨机，其特征在于：所述落料机构包括下拨馄饨夹、下拨气缸和落料桶，所述下拨馄饨夹与所述下拨气缸的活塞杆连接，所述捏合挡块包括与馄饨坯的馅料部分配合的支撑部，所述支撑部高于所述夹爪基座的底板并与两侧的夹爪间隔设置，所述下拨馄饨夹设有一对间隔设置的拨杆，当所述机械手运动至落料机构时，一对拨杆分别伸入支撑部与两侧夹爪之间的间隙，所述落料桶沿竖向设置并且通过支架安装于所述机架；所述装盒机构包括托盘和托盘传动机构，所述托盘传动机构的运动回转面垂直于所述机械手传动机构的运动回转面。The automatic wrapping and cartoning wonton machine according to claim 9, characterized in that: the blanking mechanism includes a downward shifting wonton clamp, a downward shifting cylinder and a blanking barrel, and the downward shifting wonton clamp is connected to the The piston rod of the lower dial cylinder is connected, the kneading stop includes a support part that matches with the filling part of the wonton blank, and the support part is higher than the bottom plate of the clamping jaw base and is spaced apart from the clamping jaws on both sides, The downward shifting ravioli clamp is provided with a pair of shifting rods arranged at intervals. When the manipulator moves to the blanking mechanism, the pair of shifting rods respectively extend into the gap between the supporting part and the clamping jaws on both sides, and the blanking bucket It is arranged in a vertical direction and is installed on the frame through a bracket; the box loading mechanism includes a tray and a tray transmission mechanism, and the movement rotation surface of the tray transmission mechanism is perpendicular to the movement rotation surface of the manipulator transmission mechanism.
PCT/CN2020/112949 2020-01-09 2020-09-02 Fully-automatic wrapping and boxing wonton machine WO2021139187A1 (en)

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