CN108313380A - Crispy rice packaging production line - Google Patents
Crispy rice packaging production line Download PDFInfo
- Publication number
- CN108313380A CN108313380A CN201711456371.0A CN201711456371A CN108313380A CN 108313380 A CN108313380 A CN 108313380A CN 201711456371 A CN201711456371 A CN 201711456371A CN 108313380 A CN108313380 A CN 108313380A
- Authority
- CN
- China
- Prior art keywords
- crispy rice
- production line
- feeding pipeline
- packaging production
- crispy
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 92
- 235000009566 rice Nutrition 0.000 title claims abstract description 92
- 238000004806 packaging method and process Methods 0.000 title claims abstract description 23
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 21
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 91
- 238000012856 packing Methods 0.000 claims abstract description 27
- 239000012636 effector Substances 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 235000013305 food Nutrition 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/50—Stacking one article, or group of articles, upon another before packaging
-
- 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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
-
- 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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/40—Arranging and feeding articles in groups by reciprocating or oscillatory pushers
Abstract
The invention discloses a kind of crispy rice packaging production line, including packing machine, the first feeding pipeline for crispy rice to be delivered to piling station, it is set at piling station and for carrying out the robot palletizing apparatus of stacking, the second feeding pipeline, the shunting device for making the crispy rice after stacking be moved on the second feeding pipeline and the third feeding pipeline between the second feeding pipeline and packing machine and for the crispy rice conveyed by the second feeding pipeline to be delivered to packing machine to crispy rice.The crispy rice packaging production line of the present invention, can improve the packing work efficiency of crispy rice.
Description
Technical field
The invention belongs to crispy rice packing technique fields, specifically, the present invention relates to a kind of crispy rice packaging production lines.
Background technology
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems：Crispy rice is wrapped
When dress, traditional technology packs crispy rice using manual type, and not only working efficiency is low, but also easily sack when manual pack
Make dirty, the hand of operator it is unavoidable to contact food, cause the sanitation degree of food inadequate.
Invention content
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides a kind of pot
Bar packaging production line, it is therefore an objective to improve crispy rice packing work efficiency.
To achieve the goals above, the technical solution that the present invention takes is：Crispy rice packaging production line, including packing machine, use
In crispy rice to be delivered to the first feeding pipeline of piling station, is set at piling station and for carrying out stacking to crispy rice
Robot palletizing apparatus, the second feeding pipeline turn line for making the crispy rice after stacking be moved on the second feeding pipeline
Device and between the second feeding pipeline and packing machine and for will convey by the second feeding pipeline crispy rice conveying
To the third feeding pipeline of packing machine.
The robot palletizing apparatus includes robot palletizer and is set on robot palletizer and is located at institute for picking up
State the end effector of the crispy rice on the first feeding pipeline.
The end effector includes the end link block being connect with the robot palletizer, is connect with end link block
Tool fixing plate and the pick tool for being set on tool fixing plate and be used to pick up crispy rice.
The pick tool is sucker.
The pick tool is arranged multiple and pick tool and is sequentially arranged for the length direction along the tool fixing plate.
The robot palletizer include silent flatform, moving platform, the drive module being set on silent flatform and with driving mould
The movement branched chain that block is connected with moving platform, drive module setting three, each drive module respectively by a movement branched chain with
Moving platform connects, and the end effector is connect with moving platform.
The shunting device includes for placing the rebound of crispy rice and being movably arranged and be used to that rebound will to be located at
Stacking after crispy rice push to the pushing plate on the second feeding pipeline, pushing plate is located at the top of rebound.
The shunting device further includes connecting with the pushing plate and being moved in the horizontal direction for controlling pushing plate
Turn line cylinder, the rebound is horizontally disposed.
The line cylinder that turns is arranged two.
The packing machine is pillow type packing machine.
The crispy rice packaging production line of the present invention, can improve the packing work efficiency of crispy rice.
Description of the drawings
This specification includes the following drawings, and shown content is respectively：
Fig. 1 is the structural schematic diagram of crispy rice packaging production line of the present invention；
Fig. 2 is the vertical view of crispy rice packaging production line of the present invention；
Fig. 3 is the structural schematic diagram of crispy rice feeding system；
Fig. 4 is the structural schematic diagram of robot palletizing apparatus；
Fig. 5 is the structural schematic diagram of robot palletizer；
Fig. 6 is the structural schematic diagram of shunting device；
In figure label for：1, packing machine；2, the first feeding pipeline；3, the second feeding pipeline；4, robot stacking fills
It sets；401, silent flatform；402, moving platform；403, drive module；404, master arm；405, slave arm；406, end link block；
407, tool fixing plate；408, pick tool；409, rack；410, sealing plate；5, third feeding pipeline；6, shunting device；
601, rebound；602, pushing plate；603, turn line cylinder；7, crispy rice.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making to the specific implementation mode of the present invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to the design of the present invention, technical solution
Solution, and contribute to its implementation.
As shown in Figures 1 to 6, the present invention provides a kind of crispy rice packaging production line, including packing machine 1, for by crispy rice
It is delivered to the first feeding pipeline 2 of piling station, is set to the robot at piling station and for carrying out stacking to crispy rice
Palletizing apparatus 4, the second feeding pipeline 3, for making the crispy rice after stacking be moved to the shunting device on the second feeding pipeline 3
6 and between the second feeding pipeline 3 and packing machine 1 and for will conveyed by the second feeding pipeline 3 crispy rice conveying
To the third feeding pipeline 5 of packing machine 1.
Specifically, as depicted in figs. 1 and 2, the crispy rice that need to be packed is laminated structure, on the first feeding pipeline 2, second
Material pipeline 3 and third feeding pipeline 5 are sequentially arranged for the conveying direction along crispy rice, and packing machine 1 is finally packed into crispy rice and wraps
In pack, the entire packing work of crispy rice is completed.The crispy rice of fresh baked is delivered at piling station by the first feeding pipeline 2,
Then crispy rice is placed on shunting device 6 by robot palletizing apparatus 4, carries out the stacking of crispy rice, crispy rice is folded with default the piece number
It puts as a pile, number pile crispy rice (being to be stacked to be formed by multi-disc crispy rice per pile crispy rice) is then transferred to second together by transfer device
On feeding pipeline 3, then crispy rice is delivered on third feeding pipeline 5 by the second feeding pipeline 3, then by third
Crispy rice is delivered at packing machine 1 by material pipeline 5, is finally packed to crispy rice by packing machine 1, and packing machine 1 successively will be per pile
Crispy rice is fitted into a packaging bag.
Such as Fig. 1 to Fig. 3, the first feeding pipeline 2 is belt conveyor line, and the first feeding pipeline 2 is horizontally disposed.Second
Feeding pipeline 3 is also belt conveyor line, and the second feeding pipeline 3 is horizontally disposed, the length direction of the first feeding pipeline 2
It is perpendicular with the length direction of the second feeding pipeline 3.The crispy rice of predetermined quantity is arranged in n by the first feeding pipeline 2
The m crispy rice of each row is delivered at piling station namely crispy rice is first by row, often row successively with one layer of m crispy rice
For in the distribution of n*m matrix forms on the belt conveyor of feeding pipeline 2.At piling station, robot palletizing apparatus 4 once can be with
Positioned at the m crispy rice of same row, the m crispy rice of same row is the width in the belt conveyor with the first feeding pipeline 2 for pickup
It spends on the parallel same straight line in direction.
As shown in Figures 1 to 5, robot palletizing apparatus 4 including rack 409, robot palletizer and is set to stacking machine
People is upper and is used to pick up the end effector of the crispy rice on the first feeding pipeline 2.Rack 409 is fixed setting, stacking
Robot is set in rack 409, and robot palletizer is preferably parallel robot, and flexibility is high, can realize the movement of crispy rice
It puts as required.There is robot palletizer three-dimensional translating three degree of freedom, robot palletizer to include mainly silent flatform 401, move
Platform 402, the drive module 403 being set on silent flatform 401 and the movement being connect with drive module 403 and moving platform 402
Branch, drive module 403 are arranged three, and each drive module 403 is connect by a movement branched chain with moving platform 402 respectively.
Silent flatform 401 is fixedly installed in rack 409, and drive module 403 is used to provide the power for making movement branched chain operate, drive module
403 speed reducers being connect by servo motor and with servo motor form, and the servo motor of drive module 403 is fixedly installed on quiet
On platform 401, speed reducer is connect with movement branched chain, and three drive modules 403 are in silent flatform 401 on silent flatform 401
The heart is uniformly distributed in circumferential.Movement branched chain includes master arm 404 and slave arm 405, one end of master arm 404 and drive module
403 speed reducer connects, and the other end of master arm 404 is hinged with the upper end of slave arm 405, and the lower end of slave arm 405 is put down with dynamic
Platform 402 is hinged.When drive module 403 operates, master arm 404 can be driven to swing up and down, master arm 404 can when swinging up and down
It drives slave arm 405 to be moved along three-dimensional, and then moving platform 402 is driven to be translatable along three-dimensional.
As shown in Figure 4 and Figure 5, end effector includes the end link block 406 being connect with robot palletizer, connects with end
It connects the tool fixing plate 407 of the connection of block 406 and is set to the pick tool 408 on tool fixing plate 407 and for picking up crispy rice.
End link block 406 is fixedly connected with moving platform 402, and tool fixing plate 407 is fixedly connected with end link block 406, and tool is solid
Fixed board 407 is located at the lower section of moving platform 402.Multiple, all pick tools are arranged in pick tool 408 on tool fixing plate 407
408 is are sequentially arranged along the length direction of tool fixing plate 407, the quantity of pick tool 408 on the first feeding pipeline 2
The total m of crispy rice in same row is identical, the conveying skin of the length direction of tool fixing plate 407 and the first feeding pipeline 2
The width direction of band is parallel.Pick tool 408 is preferably sucker, and pick tool 408 is fixedly connected with tool fixing plate 407,
Pick tool 408 is simultaneously connect with the vacuum generator of peripheral hardware, and negative pressure is provided by vacuum generator, to adsorb crispy rice, realizes crispy rice
Pickup.Using sucker as pick tool 408, sucker is more stable, seldom occur in high speed operation product leakage inhale or
The case where getting rid of, reliability is high, and stability is good, and will not cause the damage of crispy rice, moreover it is possible to be suitable for different size of crispy rice
Pickup.
Robot palletizing apparatus 4 is after to crispy rice stacking, on shunting device 6, crispy rice with default the piece number stack for
One pile is placed with several pile crispy rices on shunting device 6 simultaneously, and total pile number of crispy rice is identical with the sum of pick tool 408, turn traditional thread binding
6 are set by several pile crispy rices while being transferred on the second feeding pipeline 3.As shown in Figure 3 and Figure 6, shunting device 6 includes for placing
The rebound 601 of crispy rice and be movably arranged and for by be located at rebound 601 on stacking after crispy rice push to second
Expect that the pushing plate 602 on pipeline 3, pushing plate 602 are located at the top of rebound 601.Rebound 601 is horizontally disposed, transition
The length direction of plate 601 is parallel with the length direction of tool fixing plate 407, the length direction of rebound 601 and on second
Expect that the conveying direction of pipeline 3 is parallel, rebound 601 is located at the one side edge of the belt conveyor of the second feeding pipeline 3
Gap is smaller between the top surface of the belt conveyor of top, rebound 601 and the second feeding pipeline 3, avoids influencing belt conveyor
Operating.The length direction of rebound 601 is parallel with the length direction of belt conveyor of the second feeding pipeline 3, pushing plate
602 are vertically arranged, and the moving direction of pushing plate 602 is the moving direction and rebound 601 of horizontal direction and pushing plate 602
Length direction is perpendicular, and the moving direction of pushing plate 602 is simultaneously equal with the width direction of belt conveyor of the second feeding pipeline 3
Row, pushing plate 602 can push to the number pile crispy rice on rebound 601 on the belt conveyor of second feeding pipeline 3 simultaneously,
Then these crispy rices are delivered on third feeding pipeline 5 by the second feeding pipeline 3.
As shown in Figure 3 and Figure 6, shunting device 6 further includes being connect with pushing plate 602 and for controlling pushing plate 602 along water
Square to carry out it is mobile turn line cylinder 603, rebound 601 is horizontally disposed.The moving direction of pushing plate 602 and the first feeding
The conveying direction of pipeline 2 is parallel, and it is to be fixedly installed and turn line cylinder 603 to be located at the second feeding pipeline 3 to turn line cylinder 603
Belt conveyor top, pushing plate 602 is fixedly connected with the piston rod for turning line cylinder 603.Turn line cylinder 603 and be arranged two,
Two turn line cylinder 603 one end on the length direction of pushing plate 602 are fixedly connected with pushing plate 602 respectively, pushing plate 602
Length direction it is parallel with the length direction of rebound 601, rebound 601 between two turn line cylinder 603, setting two
A line cylinder 603 that turns matches, and co- controlling pushing plate 602 does straight reciprocating motion in the horizontal direction so that pushing plate 602 is transported
Row is steady, and then guarantees smoothly by the number pile crispy rice on rebound 601 while to push on the second feeding pipeline 3,
It is neat to ensure that crispy rice stacks, reliability is high, and stability is good.
Preferably, packing machine 1 is pillow type packing machine.The structure of packing machine 1 is as known to one of skill in the art
As, details are not described herein.
The present invention is exemplarily described above in association with attached drawing.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress；Or not
It is improved, the above-mentioned design of the present invention and technical solution are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. crispy rice packaging production line, which is characterized in that the first feeding including packing machine, for crispy rice to be delivered to piling station
Pipeline is set at piling station and for carrying out the robot palletizing apparatus of stacking to crispy rice, the second feeding pipeline, using
The shunting device and be located at the second feeding pipeline and packaging that crispy rice after making stacking is moved on the second feeding pipeline
Third feeding pipeline between machine and for the crispy rice conveyed by the second feeding pipeline to be delivered to packing machine.
2. crispy rice packaging production line according to claim 1, which is characterized in that the robot palletizing apparatus includes stacking
Robot and the end being set on robot palletizer and for picking up the crispy rice on the first feeding pipeline execute
Device.
3. crispy rice packaging production line according to claim 2, which is characterized in that the end effector includes and the code
It the end link block of pile robot connection, the tool fixing plate that is connect with end link block and is set on tool fixing plate and uses
In the pick tool of pickup crispy rice.
4. crispy rice packaging production line according to claim 3, which is characterized in that the pick tool is sucker.
5. crispy rice packaging production line according to claim 3 or 4, which is characterized in that pick tool setting it is multiple and
Pick tool is sequentially arranged for the length direction along the tool fixing plate.
6. according to any crispy rice packaging production line of claim 2 to 5, which is characterized in that the robot palletizer includes
Silent flatform, moving platform, the drive module being set on silent flatform and the movement branched chain being connect with drive module and moving platform are driven
Dynamic model block be arranged three, each drive module is connect by a movement branched chain with moving platform respectively, the end effector and
Moving platform connects.
7. crispy rice packaging production line according to any one of claims 1 to 6, which is characterized in that the shunting device includes using
In the rebound for placing crispy rice and it is movably arranged and for the crispy rice after the stacking being located on rebound to be pushed to described the
Pushing plate on two feeding pipelines, pushing plate are located at the top of rebound.
8. crispy rice packaging production line according to claim 7, which is characterized in that the shunting device further includes being pushed away with described
Movable plate connect and for control pushing plate carry out in the horizontal direction it is mobile turn line cylinder, the rebound is horizontally disposed.
9. crispy rice packaging production line according to claim 8, which is characterized in that the line cylinder that turns is arranged two.
10. crispy rice packaging production line according to any one of claims 1 to 9, which is characterized in that the packing machine is pillow formula packet
Installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711456371.0A CN108313380A (en) | 2017-12-28 | 2017-12-28 | Crispy rice packaging production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711456371.0A CN108313380A (en) | 2017-12-28 | 2017-12-28 | Crispy rice packaging production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108313380A true CN108313380A (en) | 2018-07-24 |
Family
ID=62893938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711456371.0A Pending CN108313380A (en) | 2017-12-28 | 2017-12-28 | Crispy rice packaging production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108313380A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111977066A (en) * | 2019-05-21 | 2020-11-24 | 安徽协同创新设计研究院有限公司 | Intelligent food packaging method |
| CN115432230A (en) * | 2022-10-08 | 2022-12-06 | 北京泰德制药股份有限公司 | Control method of packaging manipulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1328331A (en) * | 1970-01-05 | 1973-08-30 | Sig Schweiz Industrieges | Apparatus for stacking flat articles |
| US5186599A (en) * | 1990-04-23 | 1993-02-16 | Sig Schweizerische Industrie-Gesellschaft | Method and apparatus for forming groups of flat items |
| CN206107677U (en) * | 2016-09-22 | 2017-04-19 | 普天物流技术有限公司 | Use automatic pile up neatly system of heterotypic cigarette of delta robot |
| CN106672635A (en) * | 2017-03-09 | 2017-05-17 | 山东洛杰斯特物流科技有限公司 | Stacking machine and stacking method |
-
2017
- 2017-12-28 CN CN201711456371.0A patent/CN108313380A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1328331A (en) * | 1970-01-05 | 1973-08-30 | Sig Schweiz Industrieges | Apparatus for stacking flat articles |
| US5186599A (en) * | 1990-04-23 | 1993-02-16 | Sig Schweizerische Industrie-Gesellschaft | Method and apparatus for forming groups of flat items |
| CN206107677U (en) * | 2016-09-22 | 2017-04-19 | 普天物流技术有限公司 | Use automatic pile up neatly system of heterotypic cigarette of delta robot |
| CN106672635A (en) * | 2017-03-09 | 2017-05-17 | 山东洛杰斯特物流科技有限公司 | Stacking machine and stacking method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111977066A (en) * | 2019-05-21 | 2020-11-24 | 安徽协同创新设计研究院有限公司 | Intelligent food packaging method |
| CN115432230A (en) * | 2022-10-08 | 2022-12-06 | 北京泰德制药股份有限公司 | Control method of packaging manipulator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180724 |