CN109592126B

CN109592126B - Material boxing production line and moon cake boxing production line

Info

Publication number: CN109592126B
Application number: CN201811362166.2A
Authority: CN
Inventors: 谭军民; 周磊; 林明勇; 曹永军
Original assignee: Guangdong Institute of Intelligent Manufacturing; South China Robotics Innovation Research Institute
Current assignee: Guangdong Institute of Intelligent Manufacturing; South China Robotics Innovation Research Institute
Priority date: 2018-11-15
Filing date: 2018-11-15
Publication date: 2021-11-02
Anticipated expiration: 2038-11-15
Also published as: CN109592126A

Abstract

The invention provides a material boxing production line which comprises a visual box supporting and conveying line, a visual material conveying line and a Delta robot. The material boxing production line and the moon cake boxing production line provided by the invention can automatically realize the functions of material feeding, material taking, tray box feeding, material boxing operation, tray box screening and the like, have the characteristics of high automation degree, simple structure, high unmanned degree, high execution speed and the like, and have good practicability and economy in actual production.

Description

Material boxing production line and moon cake boxing production line

Technical Field

The invention relates to the technical field of intelligent manufacturing, in particular to a material boxing production line and a moon cake boxing production line.

Background

In the final step of product production, the products are usually packed into boxes. How to realize the boxing operation of the products automatically is a problem to be solved in the actual production.

Generally, the tray is made of plastic material, and has a regular shape, such as a triangular shape, a square shape, etc., and a flange is provided on the outer periphery. In order to save storage and transportation cost, the packaging is generally carried out in a nested and stacked mode. When the tray box is used specifically, the stacked tray boxes need to be separated and taken out in a single mode. Under the default condition, two adjacent tray boxes are stacked through interference fit of the inner wall and the outer periphery, one tray box is extracted, and the adjacent tray box is easy to take out. Under the condition that adjacent tray boxes are not loosened, a single tray box cannot be stably taken out, and the repeated operation of factory production is not facilitated.

In addition, in the moon cake production industry, in order to avoid moon cake pollution, the contact of operators on moon cakes is generally required to be reduced or avoided, and how to mechanically realize the boxing operation of the moon cakes is also a problem to be solved in the moon cake production industry.

Disclosure of Invention

In order to overcome the existing defects, the invention provides a material boxing production line which can automatically realize the functions of material feeding, material taking, tray box feeding, boxing operation of materials, tray box screening and the like, has the characteristics of high automation degree, simple structure, high unmanned degree, high execution speed and the like, and has good practicability and economy in actual production.

Correspondingly, the invention provides a material boxing production line which comprises a visual box supporting and conveying line, a visual material conveying line and a Delta robot;

the tray feeding line comprises a tray material rack, a tray taking device, a tray taking platform, a tray feeding device, a tray feeding conveyor belt and a tray baffle device; the box supporting operation line comprises a box supporting operation conveying belt, a box supporting visual device and a box supporting screening device; the tray taking platform is arranged at one side of the starting end of the tray feeding conveyor belt, the tray material rack is arranged above the tray taking platform, the tray taking device takes out a tray from the tray material rack and places the tray on the tray taking platform, and the tray feeding device pushes the tray onto the tray feeding conveyor belt; the tail end of the box supporting and taking platform is opposite to the starting end of the box supporting operation conveying belt, and the box supporting baffle device is arranged above the tail end of the box supporting and taking platform; the box supporting visual device is arranged above the initial end of the box supporting operation conveyor belt, and the box supporting screening device is arranged at the tail end of the box supporting operation conveyor belt;

the visual material conveying line comprises a material feeding line, a material operating line and a tray return line; the material operating line comprises a material feeding conveyor belt and tray guard plates, and the tray guard plates are arranged on two sides of the material feeding conveyor belt; the material operation line comprises a material operation conveying belt, a front material placing visual device and a rear material placing visual device; the material operation conveyor belt and the box supporting operation conveyor belt are arranged side by side, the starting end of the material operation conveyor belt is connected with the material feeding conveyor belt, and the width of the material operation conveyor belt is larger than that of the material feeding conveyor belt; the front material placing visual device and the rear material placing visual device are respectively arranged at the beginning end and the tail end of the material operation conveying belt; the tray return line is connected with the tail end of the material operation conveying belt;

the working end region of the Delta robot comprises a part of the tray operation conveyor belt and a part of the material operation conveyor belt.

The box supporting rack comprises a plurality of sub supporting pieces which are arranged around a vertical axis;

each branch supporting piece in the branch supporting pieces is provided with a supporting surface for supporting the supporting box, and the supporting surfaces of the branch supporting pieces face to one side where the vertical axis is located;

the height of the supporting surface gradually increases from the top to the middle to form a transition section; the supporting surface is provided with a sawtooth section consisting of a plurality of sawteeth from the tail end of the transition section.

The tray taking device comprises a tray taking mechanism; the tray taking platform is arranged below the tray rack, and a tray limiting hole is formed in the position corresponding to the tray rack; the tray taking mechanism is arranged below the tray taking platform and comprises a tray taking sucker moving along the vertical direction, and the movement track of the tray taking sucker moves along the vertical direction and penetrates through the tray limiting hole; when the lower end position of the movement stroke is reached, the height of the tray taking sucker is lower than that of the tray taking platform; when the upper end position of the movement stroke is reached, the tray taking sucker is higher than the tray taking platform.

The tray taking mechanism comprises a tray taking cylinder, a tray taking connecting block, a tray taking moving block and a tray taking hollow rod, and an air inlet hole for connecting with a vacuum generator is formed in the tray taking moving block;

the tray taking air cylinder is arranged below the tray taking platform in the vertical direction, and the piston rod is connected with the tray taking moving block based on the tray taking connecting block;

one end of the tray taking hollow rod is fixed on the tray taking moving block and communicated with the air inlet hole, and the other end of the tray taking hollow rod is connected with the tray taking sucker.

The box supporting baffle device comprises a box supporting feeding baffle and a box supporting feeding baffle cylinder; the baffle cylinder is arranged above the tail end of the box supporting feeding conveyor belt in the vertical direction, and the piston rod is connected with the box supporting feeding baffle.

The tray screening device comprises an air blowing mechanism, an air blowing baffle, a tray baffle and a tray recovery barrel;

the blowing baffle and the box supporting baffle are respectively arranged at two sides of the tail end of the box supporting operation conveying belt, the blowing mechanism is arranged at the outer side of the blowing baffle, and the box supporting recovery barrel is arranged below the box supporting baffle;

the bottom surface of the blowing baffle is higher than the tray operation conveyor belt, and the tray baffle is opened towards one side of the tray operation conveyor belt and one side of the tray recovery barrel.

The structure of the tray visual device, the front material placing visual device and the rear material placing visual device is the same; the box supporting visual device comprises a box supporting visual device shell, a box supporting visual device shell bracket, a box supporting camera module, a box supporting visual light plate and a visual light plate fixing piece; the box supporting visual device shell is fixed at the initial end of the box supporting operation conveying belt based on a box supporting visual device shell support; the box supporting camera module is fixed in the center of the top of the box supporting visual device shell, and the direction of the box supporting camera module faces to the inside of the box supporting visual device shell; the box supporting vision light plate is attached to the inner wall of the box supporting vision device shell, one side of the box supporting vision light plate, facing the box supporting camera module, does not emit light, and one side of the box supporting vision light plate, facing the box supporting operation conveying belt, emits light uniformly.

Correspondingly, the invention provides a moon cake boxing production line which comprises the material boxing production line, wherein the working tail end of the Delta robot is a flexible working tail end.

The invention provides a material boxing production line and a moon cake boxing production line, which can automatically realize the functions of material feeding, material taking, tray box feeding, material boxing operation, tray box screening and the like, have the characteristics of high automation degree, simple structure, high unmanned degree, high execution speed and the like, and have good practicability and economy in actual production.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 shows a schematic three-dimensional structure diagram of a material boxing production line in an embodiment of the invention;

FIG. 2 is a schematic diagram showing a three-dimensional structure of a visual tray feed line according to an embodiment of the present invention;

FIG. 3 is a schematic diagram showing a three-dimensional structure of a tray loading line according to an embodiment of the invention;

fig. 4 shows a three-dimensional structure diagram of the tray rack according to the embodiment of the invention;

fig. 5 shows a three-dimensional structural schematic of a branch supporting part and a supporting box limiting part of the supporting box rack according to the embodiment of the invention;

FIG. 6 is a schematic three-dimensional structure of a tray box and a tray separating member according to an embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating operation of the tray rack in fixing the sub-trays according to the embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating the operation of the tray rack when the sub-trays can swing according to the embodiment of the invention;

fig. 9 is a schematic three-dimensional structure diagram of a tray taking device according to an embodiment of the invention;

FIG. 10 shows a front perspective view of a tray extracting apparatus according to an embodiment of the present invention;

FIG. 11 illustrates a front view of a magazine loading mechanism of an embodiment of the present invention;

FIG. 12 is a schematic diagram showing a three-dimensional structure of a tray loading conveyor according to an embodiment of the invention;

FIG. 13 illustrates a schematic three-dimensional view of a tote line 2000 in accordance with embodiments of the present invention;

FIG. 14 shows a schematic three-dimensional perspective structure of a tray vision device according to an embodiment of the present invention;

fig. 15 shows a schematic three-dimensional structure of the magazine screening apparatus 9 according to the embodiment of the present invention;

FIG. 16 is a schematic diagram showing the three-dimensional structure of a visual material delivery line according to an embodiment of the present invention;

fig. 17 shows a schematic three-dimensional structure of a material loading line 5000 of the embodiment of the present invention;

FIG. 18 shows a schematic three-dimensional view of a material line 3000 according to an embodiment of the invention;

FIG. 19 shows a three-dimensional structure diagram one of a tray reflow 7000 of an embodiment of the present invention;

FIG. 20 shows a second three-dimensional configuration of a tray reflow 7000 of an embodiment of the present invention;

fig. 21 shows a three-dimensional structure diagram three of the tray reflow 7000 of the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 shows a three-dimensional structure schematic diagram of a material boxing production line in an embodiment of the invention. The embodiment of the invention provides a material boxing production line which comprises a visual tray conveying line 1111, a visual material conveying line 2222 and a Delta robot 4000, wherein the visual tray conveying line 1111 and the visual material conveying line 2222 are arranged side by side, and the Delta robot 4000 is arranged above the visual tray conveying line 1111 and the visual material conveying line 2222.

Fig. 2 shows a schematic three-dimensional structure of a material conveying line of a visual tray according to an embodiment of the present invention. The visual tray conveying line comprises a tray feeding line 1000 and a tray operating line 2000, and a Delta robot 4000 is arranged above the tray operating line 2000.

Fig. 3 shows a three-dimensional structure schematic diagram of a tray feeding line according to an embodiment of the invention. The support box feeding line comprises a support box material rack 2, a support box material taking device 3, a support box material taking platform, a support box feeding device 4, a support box feeding conveying belt 5 and a support box baffle device 6.

Fig. 4 is a schematic three-dimensional structure diagram of a tray stack according to an embodiment of the present invention, fig. 5 is a schematic three-dimensional structure diagram of a sub-tray and a tray limiting member of a tray stack according to an embodiment of the present invention, and fig. 6 is a schematic three-dimensional structure diagram of a tray and a sub-tray according to an embodiment of the present invention, wherein the tray limiting member shown in fig. 4 and 5 is shorter than the tray limiting member shown in the remaining drawings in axial length in order to avoid occupying too much space of the drawings due to a longer axial length of the tray limiting member.

The embodiment of the invention provides a tray rack 2 which is used for storing stacked trays 1 with flanges at the periphery and loosening the stacked trays 1 so as to ensure that a single tray 1 is taken out stably. The box holder rack 2 of the embodiment of the invention comprises a plurality of branch holders 205 which are annularly arranged outside the box holders, and the situation that although the branch holders 205 can provide supporting force in the vertical direction and certain horizontal direction limit, when the number of stacked box holders 1 is large, the height is high, and the box holders are easy to topple when the box holders are slightly unbalanced is considered. Therefore, the tray rack 2 according to the embodiment of the present invention further includes a plurality of tray limiting members 204 annularly disposed outside the tray.

Specifically, the embodiment of the present invention is introduced by taking the square tray 1 as an example, and for the tray boxes with other shapes, such as the triangular tray, the circular tray, and the like, the embodiment of the present invention may be modified according to the implementation method provided by the embodiment of the present invention, so as to meet the actual production requirements. The tray rack 2 of the embodiment of the invention comprises four tray limiting parts 204 and four sub-tray parts 205. The four tray limiting pieces 204 are respectively arranged on the outer side of each side wall of the tray 1; specifically, the tray limiting member 204 is a cylindrical structure with a U-shaped cross section, and the opening groove faces the tray 1; because the main function of the tray limiting members 204 is to prevent the stacked tray 1 from toppling, in order to facilitate loading, in the arrangement of the arrangement intervals, the profile surrounded by the four tray limiting members 204 can be arranged outside the flange profile of the tray 1, so that a certain supporting force in the horizontal direction can be provided when the stacked tray 1 topples, and the stacked tray is not separated from the sub-tray 205 due to an excessively large tilting angle.

In consideration of the problem of fixing the cartridge retaining member 204, the cartridge holder according to the embodiment of the present invention further includes a cartridge retaining member fixing base plate 201, a cartridge retaining member retaining plate 202, and a cartridge retaining member fixing plate 203. The tray limiting part limiting plate 202 is fixed on the tray limiting part fixing bottom plate 201, and the horizontal section is U-shaped; the bottom end of the tray limiting part 204 is clamped on the tray limiting part limiting plate 202, and the back of the tray limiting part limiting plate limiting. The four sub-supporting pieces 205 of the embodiment of the invention are respectively arranged at the lower ends of the open grooves of the four supporting box limiting pieces 204.

Specifically, the branch supporting piece 205 is sequentially provided with a transition section 210 and a sawtooth section 211 from the top to the bottom, the thickness of the top end of the branch supporting piece is the smallest, and the thickness of the branch supporting piece gradually and smoothly increases from the top end to the middle part to form the transition section 210; then the surface facing one side of the tray is alternately recessed towards the inside and protruded towards the outside from the middle to the bottom end, forming a saw tooth section 211 comprising a plurality of saw teeth; the fixing point 206 of the sub-holder 205 is arranged in the middle of the sub-holder.

Specifically, the connection relationship between the sub-holder 205 and the holder limiting member 204 may be a fixed connection relationship, or may be a hinged connection relationship; when the connection relationship between the sub-holder 205 and the holder limiting member 204 is a hinge connection relationship, the position of the fixed point 206 is the rotation axis 206.

Specifically, when viewed from a top view, the top end surface contours of the plurality of branch supporting pieces 205 are located outside the flange contour of the supporting box 1; the transition section end profiles of the branch supporting pieces 205 are positioned in the flange profile of the supporting box 1 and are not in contact with the side wall of the supporting box 1, so that the side wall of the supporting box 1 is prevented from being dented or crushed during operation. The tooth top profiles of a plurality of teeth of the saw tooth sections are positioned in the flange profile of the support box 1, and the tooth bottom profile is superposed with the flange profile of the support box 1 or positioned outside the flange profile of the support box.

Fig. 7 is a schematic diagram illustrating operation of the tray rack in fixing the sub-trays according to the embodiment of the present invention. When the connection relationship between the sub-supporting member and the supporting box limiting member 204 is a fixed connection relationship, the axis of the sub-supporting member is arranged along the vertical direction. In the embodiment of the present invention, the stacked tray is placed on the plurality of sub-trays by default, and the transition sections 210 of the plurality of sub-trays contact with the flanges of the tray to form the support under the action of gravity. For convenience of description, in the embodiment of the present invention, the tray 1 is named as tray one 101, tray two 102, and tray three 103 … … in sequence from bottom to top.

When the first tray 101 needs to be taken out, the first tray 101 is pulled out from the lower part of the tray rack 2. During the movement of the first cartridge 101, firstly, the flange gradually deforms from the transition section 210, and falls into the saw teeth of the saw tooth section 211 after the tail end of the transition section 210 reaches the maximum deformation degree; synchronously, according to the stress condition of the second tray 102, two possible motion conditions exist in the second tray:

the first condition is that the interference fit between the second support box and the first support box is moderate, the tension force for driving the first support box to move downwards and the supporting force provided by the transition section 210 on the flange of the second support box can overcome the interaction force between the second support box and the first support box, so that the first support box and the second support box are separated, the flange of the second support box is slightly deformed and clamped on the transition section, and the first support box is restored to the original shape after falling into the sawtooth section; the flange of the first support box is deformed in the transition section, and after the flange of the first support box falls into the sawteeth, the flange of the first support box moves along the inclined plane of the sawteeth by the force of the flange of the first support box recovering the deformation, so that the distance between the first support box and the second support box is increased, and the separation of the first support box and the second support box is realized; the first support box and the second support box can be effectively separated according to the arrangement of the inclination angle of the sawtooth inclined plane.

The second condition is that the interaction force between the second tray 102 and the first tray 101 is too large, the pulling force for driving the first tray to move downwards and the supporting force provided by the transition section 210 on the flange of the second tray are not enough to overcome the interaction force between the second tray 102 and the first tray 101, and the second tray 102 moves along with the first tray 101 and enters the sawtooth section. In this case, the first tray 101 and the second tray 101 need to be separated by a plurality of sawteeth of the sawteeth section; according to the movement sequence, when the first tray box 101 and the second tray box 102 move integrally, at a certain moment, the flanges of the first tray box 101 and the second tray box 102 fall on two side surfaces of the same sawtooth respectively; compared with the transition section, the sawtooth section has a larger inclination angle, which is beneficial to providing larger supporting force for the second support box 102, so that the pulling force for driving the first support box to move downwards and the supporting force provided by the transition section 210 on the flange of the second support box can overcome the interaction force between the second support box and the first support box, and the first support box and the second support box are separated.

Furthermore, the inclination angle of the saw teeth can be gradually increased, so that the saw teeth are sharper; the included angle between the surface of the sawteeth section above and the horizontal plane is smaller, so that the supporting force provided by the sawteeth to the second support box is larger, and the two adjacent support boxes can be effectively separated; the supporting force is maximized when the face of the saw tooth located above is parallel to the horizontal plane.

Because each tray passes through all the sawteeth when being taken out, and the deformation amount is the overlapped part between the flange and the top end of the sawteeth, the deformation amount is larger; the sharper the saw teeth, i.e. the larger the angle of inclination of the saw teeth, the better the separation effect, but the more likely damage to the cartridge flange.

Fig. 8 is a schematic diagram illustrating operation of the tray rack when the sub-tray can swing according to the embodiment of the invention. When the connection relationship between the sub-holder 205 and the holder limiting member 202 is a hinge connection relationship, the sub-holder 205 can swing around the rotating shaft 206 by a small angle, and the swing range is limited by the holder limiting member 204. Specifically, the middle of the sub-holder 205 of the embodiment of the present invention is provided with a sub-holder rotating shaft 206, and the sub-holder 205 can swing around the sub-holder rotating shaft 206. Specifically, two sides of the sub-supporting rotating shaft 206 are fixed inside the opening groove of the supporting box limiting member 204.

When the tray box needs to be taken out, firstly, the tray boxes are pushed upwards one by one, the stacked tray boxes are pushed upwards, and the sub-tray piece 205 swings clockwise (in the direction shown in the figure) until the back side is abutted against the tray box limiting piece 204; then, the first support box is pulled downwards, the first support box flange drives the sub-support piece 205 to swing in the anticlockwise direction through the saw teeth, the saw teeth positioned above the first support box flange are inserted into a gap between the second support box and the third support box … …, and the distance between the adjacent support box flanges is increased through the triangular saw tooth surfaces, so that the looseness of the stacked support boxes is realized; the first support box continues to move downwards and is drawn out, one part of the second support box, the third support box and the like is limited by the saw teeth to realize looseness, and the other part of the second support box, the third support box and the like is separated and clamped in different saw teeth according to the realization principle of the first embodiment; at this time, the stacked tray is fixed to the tray separating member 205 by gravity, and waits for the next job.

The tray taking-out operation of the embodiment of the invention has two operation stages in the actual operation:

loosening: in the swing process of the support component, adjacent support boxes are loosened due to the change of the distance under the action of the transition section and the sawtooth section;

a separation stage: when the loosened tray box is taken out, the first tray box and the second tray box are separated through the action of the sawtooth section (the same as the implementation principle of the first embodiment).

When one support box is taken out, the sub-support piece can be driven to swing back and forth, and the support box positioned in the middle of the stacked support boxes needs to be loosened for multiple times through the sub-support piece in the process of moving to the lower end; the specific loosening process is mainly carried out by the aid of inclined planes at two ends of the saw teeth, the adjacent supporting boxes deviate from the movement along the two inclined planes of the same saw teeth to realize loosening, the loosening of the adjacent supporting boxes is mainly realized by the movement of the saw teeth of the supporting part, and the flange of each supporting box can be loosened without too much deformation.

After the supporting box (namely, the first supporting box) moving to the lower end and the second supporting box (namely, the second supporting box) moving to the lower end are loosened for many times, the interaction force is reduced, so that the separation difficulty is greatly reduced, and the number of the extracted supporting boxes can be effectively ensured to be one through the implementation of the separation stage. In addition, because the tray box at the tail end swings anticlockwise, the length of the intersection of the edge of the tray box and the saw teeth is gradually reduced along with downward movement, and compared with the implementation mode of the first embodiment, the number of the saw teeth through which the flange of the tray box passes is reduced, so that the deformation of the tray box is favorably reduced, and the probability of abrasion is reduced.

It should be noted that the stacked trays may also compress the saw teeth in the loosening stage, so that the interaction force between the adjacent trays is increased; through the reasonable distance that sets up adjacent sawtooth and through not hard up many times, can avoid adjacent support box to give the condition emergence that compresses tightly.

According to the tray material rack provided by the embodiment of the invention, on the basis of realizing the function of storing the tray boxes, the stacked tray boxes can be effectively loosened and separated through the swing design of the sub-tray pieces, so that the number of the tray boxes taken out each time is one, and the tray material rack has good practicability.

Correspondingly, the step of taking out a single tray from the bottom of the tray rack through manual operation is complicated, the manual operation is inconvenient due to the design of the tray rack, and in order to solve the problem, the embodiment of the invention also provides the tray taking device.

Fig. 9 shows a three-dimensional structure schematic diagram of a tray taking device according to an embodiment of the invention. With reference to the schematic three-dimensional structure diagram of the tray loading line shown in fig. 2, the tray taking platform 300 according to the embodiment of the present invention is disposed at the side of the start end of the tray loading conveyor. The tray taking device 3 of the embodiment of the invention is arranged below the tray taking platform 300. The tray material rack 2 of the embodiment of the invention is suspended and fixed above the tray material taking platform 300, and the tray material taking platform 300 is provided with a tray limiting hole 310 and a tray limiting hole 310 with the size smaller than that of the tray under the tray material rack 2; specifically, the cartridge-limiting hole 310 may have a circular, square or other irregular cross-sectional shape of the cartridge-limiting hole 310.

FIG. 10 illustrates a front perspective view of a tray extraction device according to an embodiment of the present invention. The tray taking device is arranged below the tray taking platform 300 and comprises a tray taking sucker 308, the tray taking sucker 308 can penetrate through a tray limiting hole 310 of the tray limiting hole 310 to push the trays stacked in the tray rack to move upwards, then the trays positioned at the bottom are subjected to vacuum adsorption, and the trays are driven to move downwards until the trays are clamped on the tray limiting hole 310 of the tray taking platform and the tray limiting hole 310.

Specifically, the tray taking device in the embodiment of the present invention further includes a tray taking cylinder 301, a tray taking optical axis 303, a tray taking connecting block 304, a tray taking moving block 305, a tray taking hollow rod 307, and a taking suction cup 308. The body of the tray taking air cylinder 301 is fixed, and the tail end of the piston rod is connected with the tray taking moving block 305 through a tray taking connecting block 304; two tray taking optical axes 303 are respectively fixed on two sides of the connecting position of the tray taking moving block 305 and the tray taking connecting block 304; two tray taking sliding sleeves 302 are respectively fixed at corresponding positions on two sides of the tray taking air cylinder 301; the two tray taking optical axes 303 are respectively matched with the two tray taking sliding sleeves 302 in a sliding manner. The tray taking hollow rod 307 is fixed at the lower end to the taking moving block 305 and is communicated with an air inlet hole 306 arranged on the taking moving block 305, and the upper end is communicated with a taking suction cup 308. The material taking suction cup 308 can move in the vertical direction by the driving of the tray material taking air cylinder 301.

It should be noted that the air inlet 306 is generally connected to a vacuum generator, and negative pressure is generated by the vacuum generator and acts on the bottom tray on the tray rack through the hollow material taking shaft and the material taking suction cup in sequence.

Furthermore, in order to improve the operation efficiency, the embodiment of the invention is provided with a plurality of box supporting material racks, and correspondingly, the number of the box supporting material taking devices is correspondingly adjusted. In order to simplify the equipment, the plurality of tray taking devices of the embodiment of the invention share one set of tray taking air cylinder, tray taking connecting block and tray taking moving block. In the concrete implementation, the axial extension is got material motion block length to on the position corresponding to the spacing hole of support box, set up the hollow and get the material axle and get the material sucking disc. Because the two tray box material taking optical axes 303 are arranged in the embodiment of the invention, when the length of the material taking moving block is longer, the moving balance can be fully ensured.

During operation, the material taking cylinder drives the material taking moving block to move upwards, the sucker is driven by the material taking moving block to penetrate through the box supporting limiting hole of the box supporting material taking platform and then is in contact with a bottom box in the box supporting material rack to drive the whole stacked box in the box supporting material rack to move upwards; then a vacuum generator generates vacuum, so that the sucking disc generates negative pressure to adsorb the supporting box at the bottom; then the tray taking air cylinder drives the taking moving block to move downwards, the sucking disc drives the tray at the bottom to move downwards, and the tray is made to fall on the tray taking platform; and then the vacuum generator is closed, the material taking sucker is separated from the support box and falls into the limit hole of the support box, and one-time operation is finished.

FIG. 11 illustrates a front view of a magazine loading mechanism according to an embodiment of the present invention. The tray feeding device provided by the embodiment of the invention comprises a tray feeding push block 401, a tray feeding connecting rod 402 and a tray feeding cylinder 403.

The tray feeding cylinder 403 is fixed below the tray taking platform 300, and the tail end of the piston rod is connected with a tray feeding connecting rod 402 which is vertically arranged; the upper end of the tray feeding connecting rod 402 penetrates through the tray taking platform 300 to be connected with the tray feeding push block 401. The tray feeding push block 401 can drive the tray toward the tray feeding conveyor belt 5 under the driving of the tray feeding connecting rod 402, and fall on the tray feeding conveyor belt 5.

Fig. 12 shows a three-dimensional structure diagram of the tray feeding conveyor belt according to the embodiment of the invention. The tray feeding conveyor belt 5 of the embodiment of the invention is provided with a side guide bar 501 and a top guide bar 502. Specifically, the tray feeding conveyor belt 5 in the embodiment of the present invention is a conveyor belt, and the side guide strips 501 and the top guide strip 502 are respectively fixed on both sides and the top of the tray feeding conveyor belt 5 through the guide strip fixing members 503, and are used for guiding and limiting the tray, so as to prevent the tray from falling off the tray feeding conveyor belt 5.

The box supporting baffle device provided by the embodiment of the invention is arranged at the tail end of the box supporting feeding conveyor belt 5, and particularly comprises a box supporting feeding baffle 602 and a box supporting feeding baffle cylinder 601; the tray feeding baffle 602 is fixed on the piston rod of the tray feeding baffle cylinder 601.

When the tray feeding baffle 602 is driven by the tray feeding baffle cylinder 601 to move to the lower end, the bottom height is lower than the tray height on the tray feeding conveyor belt; when the tray feeding baffle 602 is driven by the tray feeding baffle cylinder 601 to move to the upper end, the bottom surface is higher than the tray height on the tray feeding conveyor belt.

According to the structure of the tray box, the area of the open surface at the top of the tray box is far larger than that of the flange at the top of the tray box, so that when the tray box feeding conveyor belt 5 operates normally and the tray box feeding baffle moves to the lower end, the tray box feeding baffle can extend into the tray box from the open surface at the upper end with high probability and is clamped on the inner wall of the tray box, and the tray box feeding baffle can be clamped between the flanges of two adjacent tray boxes with low probability; through reasonable operation beats, the probability that the tray feeding baffle is clamped between the flanges of two adjacent trays can be reduced. Generally, because the support boxes on the support box feeding conveyor belt are in a feeding stage, the distance between the support boxes is changed frequently, and the support boxes are not suitable for being directly operated on the support box feeding conveyor belt; therefore, generally, the tray operation conveyor belt is connected behind the tail end of the tray feeding conveyor belt, and the tray baffle device is used for realizing uniform transition of the tray between the tray feeding conveyor belt and the tray operation conveyor belt. Specifically, the tray feeding baffle moves up and down periodically, so that the time for transferring two adjacent trays from the tail end of the tray feeding conveyor belt to the tray operation conveyor belt has a certain interval, on one hand, the two adjacent trays are prevented from continuously entering the tray operation conveyor belt, collision is caused on the tray operation conveyor belt due to friction instability, and on the other hand, the density of the trays on the tray operation conveyor belt is controlled to adapt to the operation speed.

Fig. 13 is a schematic three-dimensional structure diagram of a magazine line 2000 according to an embodiment of the present invention. The box supporting operation line comprises a box supporting operation conveying belt 7, a box supporting visual device 8 and a box supporting screening device 9.

Similar to the tray feeding conveyor belt, the tray operation conveyor belt 7 according to the embodiment of the present invention is also provided with side guide bars on both sides thereof for preventing the tray from falling.

Fig. 14 shows a three-dimensional perspective structure diagram of the tray vision device according to the embodiment of the invention. The tray vision device 8 includes a tray vision device housing 802, a tray vision device housing bracket 804, a tray camera module 801, a tray vision light panel 805, and a vision light panel fixture 803. Because a perspective view is shown in fig. 13, the tray vision device housing 802 can refer to the three-dimensional structure of the tray line 2000 shown in fig. 12. The tray vision device shell 802 and the tray vision device-based shell bracket 804 are fixed at the beginning of the tray operation conveyor belt 7. Specifically, when the tray is transferred from the tray feeding conveyor belt to the tray operation conveyor belt, the movement speed of the tray cannot be immediately consistent with that of the tray operation conveyor belt, and a gradual change process is needed, so that a buffer area is reserved at the starting end of the tray vision device shell support 804 and the tray operation conveyor belt 7, and the tray can stably run (the relative speed with the tray operation conveyor belt is 0). The pod camera module 801 is fixed in the center of the top of the pod vision device housing 802, oriented towards the inside of the pod vision device housing 802. The tray vision light plate 805 is annular and is attached to the inner wall of the tray vision device shell 802, one side of the tray vision device shell facing the tray camera module 801 does not emit light, and one side of the tray vision device shell facing the tray operation conveyor belt uniformly emits light; in an embodiment of the present invention, the tray vision light panel 805 is secured to the tray vision device housing 802 based on a vision light panel mount 803.

Generally, in order to avoid the phenomena of glare, blur, etc. of the image acquired by the pod camera module 801 due to the reflection of light on the inner wall of the pod vision device housing 802 and the back of the vision light plate, light absorbing materials are usually coated on the inner wall of the pod vision device housing 802 and the back of the vision light plate. In the influence obtained by the cartridge camera module 801, the back of the visual light panel has good light-dark contrast with the surface image of the conveyor belt, and the surface image of the conveyor belt can be well extracted through the shape of the visual light panel. In addition, in order to ensure that the outline of the tray on the surface of the conveyor belt is easier to extract, the color of the conveyor belt and the color of the tray should have larger color difference contrast.

It should be noted that, when the tray box passes through the tray box vision device, the relative speed between the tray box and the tray box operation conveyor belt is 0, until the tray box leaves the tray box operation conveyor belt, the tray box always keeps moving at a uniform speed, therefore, by setting the tray box vision device, the initial position of the tray box on the tray box operation conveyor belt can be obtained, and the position of the tray box at any moment can be obtained by combining the running time and the speed of the tray box operation conveyor belt, namely, the tray box distribution at any moment on the tray box operation conveyor belt and the specific coordinate of the tray box are known, and by using the characteristic, the tray box can be loaded by grabbing materials through the Delta robot.

Fig. 15 shows a three-dimensional structure diagram of the tray screening apparatus 9 according to the embodiment of the present invention. The tray screening device 9 of the embodiment of the invention comprises an air blowing mechanism 901, an air blowing baffle 902, a tray baffle 903 and a tray recovery barrel 904, wherein the air blowing mechanism 901 is arranged outside the air blowing baffle 902, so that part of the air blowing mechanism 901 cannot be completely shown in the figure. The blowing baffle and the box supporting baffle are respectively arranged at two sides of the tail end of the box supporting operation conveying belt, and the side guide strip of the box supporting operation conveying belt is disconnected at the position to allow an empty box to leave the box supporting operation conveying belt. Specifically, the bottom surface of the air blowing baffle 902 is higher than the box supporting operation conveyor belt, a certain height difference is formed between the height of the bottom surface of the air blowing baffle 902 and the surface of the box supporting operation conveyor belt, and an air blowing gap for blowing air by the air blowing mechanism 901 is reserved; the cross section of the tray baffle 903 is in an inverted L-shaped structure, the outer side wall and the top plate are closed, and the tray which is empty at the inner side is blown in from the tray operation conveyor belt and then falls into the tray recovery barrel 904 through the lower side. Specifically, the blowing mechanism 901 may be a blowing head, and after the blocking of the blowing baffle, the gas can uniformly blow the empty tray through the blowing gap, so as to avoid blowing away the tray due to too large air flow.

According to the visual tray conveying line provided by the embodiment of the invention, trays are firstly taken out from a tray rack to a tray taking platform by the tray taking device and then pushed to a tray feeding conveying belt by the tray feeding device. The supporting boxes are driven by the supporting box feeding conveyor belt, move towards the tail of the supporting box feeding conveyor belt and are orderly transferred to the supporting box operation conveyor belt through the supporting box baffle device. The box supporting vision device sequentially shoots photos at the initial end of the box supporting operation conveying belt for external information processing equipment, such as a computer, a single chip microcomputer and the like to process, and sequentially loads materials needing to be boxed onto the box supporting vision device according to the Delta robot. The unbaked support boxes flowing to the tail end of the support box operation conveying belt are screened by the support box screening device 9, and the support boxes flowing out of the support box operation conveying belt are all subjected to support box boxing operation.

Fig. 16 shows a schematic three-dimensional structure diagram of a visual material conveying line according to an embodiment of the present invention, and the embodiment of the present invention provides a visual material conveying line, which includes a material loading line 5000, a material operating line 3000, a tray return line 7000, a Delta robot 4000, and a tray operating line 2000. The material loading line 5000, the material operation line 3000 and the pallet return line 7000 of the embodiment of the invention are sequentially connected, and the Delta robot 4000 and the tray operation line 2000 are respectively arranged above and at one side of the material operation line 3000.

The visual material conveying line of the embodiment of the invention is mainly used for conveying trays filled with materials, and each part is described below.

Fig. 17 shows a schematic three-dimensional structure diagram of a material loading line 5000 according to an embodiment of the present invention. The material handling line 5000 of the embodiment of the present invention includes a material feeding conveyor belt 110 and a tray guard 111. According to the size comparison between the tray and the material loading conveyor belt 110 shown in fig. 1, the width of the material loading conveyor belt 110 is smaller than that of the tray, because the tray is in the loading stage, as long as the tray can be driven by the driving force capable of driving the tray to move, the stability of the movement of the tray is not required, and based on the cost consideration, the material loading conveyor belt 110 with the smaller width is selected, and the tray guard plates 111 are arranged on the two sides of the material loading conveyor belt 110, so that the loading of the tray is realized.

Fig. 18 shows a schematic three-dimensional structure of a material line 3000 according to an embodiment of the invention. The material operating line 3000 of the embodiment of the present invention includes a material operating conveyor 13, a front material vision device 12 and a rear material vision device 14, wherein the front material vision device 12 is used for acquiring images of a tray and a material, and the rear material vision device 12 is used for detecting whether a material residue exists in the tray (the material does not operate).

Specifically, the front material vision device 12 of the embodiment of the present invention is disposed at the front end of the material operation conveyor belt, and specifically, when the tray is transferred from the material loading conveyor belt to the material operation conveyor belt, the speed cannot be immediately kept the same as that of the material operation conveyor belt, so that, in order for the tray to pass through the front material vision device 12, the position of the tray can be fixed relative to the conveyor belt, a buffer distance needs to be left between the front material vision device 12 and the head of the material operation conveyor belt, so that the speed of the tray and the material operation conveyor belt tends to be the same. Specifically, referring to the above description, the front material vision device 12 according to the embodiment of the present invention is the same as the tray vision device, and includes a front material vision device housing 802, a front material vision device housing support 804, a material camera module 801, a material vision light panel 805, and a vision light panel fixture 803. The material camera module 801 is fixed at the top center of the front material vision device housing 802, and is oriented towards the inside of the front material vision device housing 802. The material vision light plate 805 is annular and is attached to the inner wall of the front material vision device shell 802, one side of the front material vision device shell facing the material camera module 801 does not emit light, and one side of the front material vision device shell facing the material operation conveyor belt uniformly emits light; in an embodiment of the present invention, the material vision light panel 805 is fixed to the front material vision device housing 802 based on a vision light panel fixture 803. As shown in two ways of the drawings, the vision light panel fixing member 803 can move and fix along the vertical direction, so that the height of the material vision light panel 805 can be flexibly adjusted to meet different light source requirements.

Generally, in order to avoid the phenomena of glare, blur and the like of an image acquired by the material camera module 801 due to the reflection of light on the inner wall of the front material vision device housing 802 and the back of the vision light plate, light absorbing materials are generally coated on the inner wall of the front material vision device housing 802 and the back of the vision light plate. In the influence that material camera module 801 acquireed, the back of vision worn-out fur has good light and shade contrast with conveyer belt surface image, and the shape of accessible vision worn-out fur is fine extracts conveyer belt surface image. In addition, in order to ensure that the material profile on the surface of the conveyor belt is easier to extract, the color of the conveyor belt, the color of the tray and the color of the material should have large color difference contrast.

It should be noted that, when the material is under the material vision device of leading, relative speed between its and the material operation conveyer belt is 0, until before the material leaves the material operation conveyer belt, the material keeps the uniform motion throughout, therefore, through setting up material vision device of leading, can acquire the initial position of material on the material operation conveyer belt, the speed of reunion operating duration and material operation conveyer belt, can acquire the position of material arbitrary moment, be equivalent to the material distribution and the concrete coordinate of material of arbitrary moment on the material operation conveyer belt promptly and be knowable, utilize this characteristic, accessible Delta robot snatchs the material and carries out the material loading operation to the material.

The rear material placing visual device is arranged at the tail end of the material operation conveying belt, is the same as the front material placing visual device in structure, and has different functions. In actual production, the material taking speed of the material and the material boxing speed of the material should be consistent, the material is taken away and boxed completely after passing through the material operation conveyor belt, specifically, after passing through the Delta robot, so that the material is not contained in the tray passing through the rear material vision device under normal conditions. When the equipment is debugged and normally operated, the material should be absent in the tray passing through the rear material vision device. When materials appear in the tray image acquired by the vision device for the post-placed materials, the situation that a certain part possibly breaks down or the speed of the material operation conveyor belt is unreasonably adjusted is shown, so that the materials cannot be fed in time; at the moment, the whole equipment is emergently stopped until the production is recovered after the problem is solved.

Fig. 19 shows a first three-dimensional structure diagram of the tray return 7000 according to the embodiment of the present invention, fig. 20 shows a second three-dimensional structure diagram of the tray return 7000 according to the embodiment of the present invention, and fig. 21 shows a third three-dimensional structure diagram of the tray return 7000 according to the embodiment of the present invention. The invention provides a tray return line 8 which is used for transferring trays between a material operation conveyor belt 13 and a tray return conveyor belt 8000, and comprises a tray blanking accelerating mechanism 7002, a tray position adjusting mechanism 7004, a tray transferring mechanism 7005 and a transition platform 7006.

The tray filled with the materials moves on the tray operation conveyor belt 13, the materials are taken out in a mechanical arm mode in the moving process, and the materials flow to the empty tray at the tail end of the material operation conveyor belt.

In particular, to reduce the length of the assembly line, the tray return conveyor 8000 and the material handling conveyor 13 generally have an included angle, rather than being collinear, in their direction of movement; further, if the tray return conveyor is co-linear with the material handling conveyor, the velocities will typically be different, thereby causing the trays to stack and collide as the material handling conveyor and the tray return conveyor are transferred.

The transition platform 7006 of the embodiment of the invention is arranged at the outer side of the tail end of the material operation conveyor belt 13 and is positioned above the tray backflow conveyor belt 8000, and the height of the surface of the transition platform 7006 is lower than that of the surface of the material operation conveyor belt 13 and higher than that of the tray backflow conveyor belt 8000, so that the tray falls onto the transition platform 7006 from the tail end of the material operation conveyor belt 13, is transited by the transition platform 7006 and falls onto the tray backflow conveyor belt 8000; through the setting of transition platform 7006, can make the tray can not move simultaneously on tray material loading conveyer belt and tray backward flow conveyer belt, avoid the difference of the velocity of movement and direction of motion between the two to lead to the tray to bump.

In order to accelerate the operation process and prevent the tray from being stacked on the transition platform, the tray blanking acceleration mechanism 7002 of the embodiment of the invention comprises a tray blanking push block 7011, a tray blanking vertical driving cylinder 7012 and a tray blanking horizontal driving cylinder 7013; the tray blanking horizontal driving cylinder 7013 is arranged along the horizontal direction, and the moving direction of the piston rod faces to the tray feeding conveyor belt; the body of the tray blanking horizontal driving cylinder 7013 is fixed, and the piston rod is connected with the body of the tray blanking vertical driving cylinder 7012; the tray blanking push block 7011 is fixed on a piston rod of the tray blanking vertical driving cylinder 7012.

In a standby state, a piston rod of the tray blanking horizontal cylinder 7013 extends out, a piston rod of the tray blanking vertical cylinder 7012 is retracted, and the distance from the tray blanking push block 7011 to one tray at the tail end of the tray feeding conveyor belt is slightly greater than the distance from the tray to the tray. When the tray blanking accelerating mechanism works, firstly, the tray blanking vertical driving cylinder drives the tray blanking push block to vertically move downwards, so that the tray blanking push block is inserted between two adjacent trays; then the piston rod of the tray blanking horizontal driving cylinder is retracted, and the tray blanking push block is driven to move towards the transition platform 7006 at an accelerated speed by the tray blanking vertical driving cylinder.

In order to adjust the position posture of the tray after the tray falls on the transition platform from the tray feeding conveyor belt and match with the moving direction of the tray backflow conveyor belt, the tray position adjusting mechanism 7004 of the embodiment of the invention comprises a tray adjusting cylinder 7021, a tray adjusting push block 7022 and a tray baffle 7040, the body of the tray adjusting cylinder 7021 is fixed, and a piston rod is connected with the tray adjusting push block 7022. The tray adjusting push block 7022 and the tray baffle 7040 are oppositely arranged, and the length direction of the opposite surface is the same as the moving direction of the tray backflow conveyor belt. In a standby state, the distance between the tray adjusting push block 7022 and the tray baffle 7040 is greater than the width (or length) of the tray; during operation, the tray adjusting push block 7022 moves towards the tray baffle 7040, two side faces of the tray are respectively contacted with the tray adjusting push block 7022 and the tray baffle 7040, and the position posture is consistent with the preset position posture.

It should be noted that the tray backflow conveyor belt and the tray feeding conveyor belt in the embodiment of the present invention are orthogonally arranged, and the tray moves in the width direction on the tray feeding conveyor belt and moves in the length direction on the tray backflow conveyor belt; the tray is transferred to the tray backflow conveyor belt after being transferred to the transition platform from the tray feeding conveyor belt, and the tray can be processed without passing through the tray position adjusting mechanism under an ideal state; however, in practical operation, the included angle between the tray feeding conveyor belt and the tray return conveyor belt is not orthogonal and the moving postures of the trays on the tray feeding conveyor belt and the tray return conveyor belt are not consistent, and the direction change degrees may have large differences, and the trays may be arranged according to the arrangement mode described in the embodiment of the invention, which is not described in detail in the embodiment of the invention.

In order to transfer the tray of the transition platform onto the tray return conveyor, the tray transfer mechanism 7005 of the embodiment of the present invention includes a tray transfer cylinder 7031 and a tray transfer pusher 7032; the tray transfer cylinder 7031 is fixed, the piston rod is connected with the tray transfer push block 7032, and the moving direction of the piston rod is consistent with the moving direction of the tray backflow conveyor belt. When the tray falls on the transition platform and is adjusted by the tray position adjusting mechanism, the tray transfer cylinder 7031 drives the tray transfer push block 7032 to push the tray from the transition platform to the tray return conveyor. The tray return conveyor and the transition platform are connected by an inclined roller conveyor.

Further, the tray blanking accelerating mechanism 7002, the tray position adjusting mechanism 7004 and the tray transferring mechanism 7005 need to be executed in a certain order, and in order to ensure that the tray reflow conveyor of the embodiment of the present invention can run smoothly, the embodiment of the present invention is further provided with a first tray sensor 7001 for sensing the tray moving to the end of the tray feeding conveyor and a second tray sensor 7003 for sensing the tray moving to the transition platform.

The first tray sensor 7001 is arranged at two sides of the tray feeding conveyor belt, and the induction connecting line is positioned right below the tray discharging push block 7011 in standby; when the first tray sensor 7003 is triggered by mutual induction, firstly, the tray blanking push block 7011 is driven by the tray blanking vertical driving cylinder 7012 to move downwards and is clamped between two adjacent tray gaps; then, the tray blanking horizontal driving cylinder 7012 drives the tray blanking push block 7011 to move towards the transition platform 7006, and the tray is transferred onto the transition platform 7006 in an accelerated manner.

The second tray sensor 7003 is arranged along the vertical direction and is respectively positioned above and below the surface of the tray feeding conveyor belt, and the induction connecting line is parallel to one surface of the tray adjusting push block 7022 in a standby state, which faces the transition platform. When the tray passes the end of the tray feeding conveyor belt, the sensing connection of the second tray sensor 7003 is blocked; after the tray is transferred to the transition platform from the tray feeding conveyor belt, the second tray sensor 7003 is reconnected to trigger the piston cylinder of the tray adjusting cylinder 7021 to extend out, and the tray adjusting push block 7022 is driven to move towards the tray baffle 7040, so that position and posture adjustment is realized; and then after a certain preset time, the tray transfer cylinder 7031 drives the tray transfer push block 7032 to move, so that the tray is pushed away from the transition platform and falls on the tray backflow conveyor belt to complete backflow.

In specific implementation, the box and the tray (moon cake) are respectively conveyed to a box operation conveyor belt and a material operation conveyor belt, and positions on the box operation conveyor belt and the material operation conveyor belt are obtained based on respective vision devices; when the image passes through the working area of the Delta robot, corresponding images are calculated and synthesized in real time through a computer and other equipment, and boxing operation is performed based on the working tail end of the Delta robot; then the empty tray box is screened by the tray box screening device, and the empty tray is reflowed by the tray reflowing device.

Correspondingly, the invention also provides a moon cake boxing production line which comprises any one of the material boxing production lines, wherein the working tail end of the Delta robot is a flexible working tail end and is used for clamping moon cakes in a tray on the material operation production line.

The embodiment of the invention provides a material boxing production line and a moon cake boxing production line, which can automatically realize the functions of material feeding, material taking, tray box feeding, material boxing operation, tray box screening and the like, have the characteristics of high automation degree, simple structure, high unmanned degree, high execution speed and the like, and have good practicability and economy in actual production.

The material boxing production line and the moon cake boxing production line provided by the embodiment of the invention are introduced in detail, a specific embodiment is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. The material boxing production line is characterized by comprising a visual box supporting and conveying line, a visual material conveying line and a Delta robot;

the visual box supporting and conveying line comprises a box supporting and feeding line and a box supporting and operating line, and the Delta robot is arranged above the box supporting and operating line;

the working end region of the Delta robot comprises a part of tray operation conveyor belt and a part of material operation conveyor belt;

the height of the supporting surface gradually increases from the top to the middle to form a transition section; the supporting surface is provided with a sawtooth section consisting of a plurality of sawteeth from the tail end of the transition section;

the tray taking device comprises a tray taking mechanism; the tray taking platform is arranged below the tray rack, and a tray limiting hole is formed in the position corresponding to the tray rack; the tray taking mechanism is arranged below the tray taking platform and comprises a tray taking sucker moving along the vertical direction, and the movement track of the tray taking sucker moves along the vertical direction and penetrates through the tray limiting hole; when the lower end position of the movement stroke is reached, the height of the tray taking sucker is lower than that of the tray taking platform; when the upper end of the movement stroke is in the position, the tray taking sucker is higher than the tray taking platform;

one end of the tray taking hollow rod is fixed on the tray taking moving block and communicated with the air inlet hole, and the other end of the tray taking hollow rod is connected with the tray taking sucker;

the box supporting baffle device comprises a box supporting feeding baffle and a box supporting feeding baffle cylinder; the baffle cylinder is arranged above the tail end of the tray feeding conveyor belt in the vertical direction, and the piston rod is connected with the tray feeding baffle;

the bottom surface of the air blowing baffle is higher than the tray operation conveyor belt, and one side of the tray baffle, which faces the tray recovery barrel, are open;

2. A moon cake boxing production line is characterized by comprising the material boxing production line of claim 1, wherein the working tail end of the Delta robot is a flexible working tail end.