CN112078854B

CN112078854B - Hamburger packaging device and hamburger machine

Info

Publication number: CN112078854B
Application number: CN202011027248.9A
Authority: CN
Inventors: 郑天威; 王小勇; 吴海征; 蒋文状
Original assignee: Chunhe Shenzhen Automation Technology Co ltd; Beijing Sankuai Online Technology Co Ltd
Current assignee: Chunhe Shenzhen Automation Technology Co ltd; Beijing Sankuai Online Technology Co Ltd
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2022-03-29
Anticipated expiration: 2040-09-25
Also published as: CN112078854A

Abstract

The present disclosure relates to a hamburger packaging device and hamburger machine, wherein, hamburger packaging device includes: a frame; the supporting plate mechanism is arranged on the rack and comprises a supporting plate for bearing packing paper, the packing paper is flatly laid on the supporting plate, and a hamburger is placed on the packing paper and reaches a first packing state; the first paper folding mechanism is used for folding the packaging paper upwards from the left side and the right side to achieve a second packaging state, and folding the left side and the right side of the packaging paper inwards to cover the hamburgers to achieve a third packaging state; and the second paper folding mechanism is used for pressing the packing paper downwards from the front side and the rear side to reach a fourth packing state, and inwards folding the front side and the rear side of the packing paper to cover the hamburgers so as to reach a fifth packing state. Like this, can adopt the hamburger packing plant that this disclosure provided to realize automatic packing after the hamburger preparation is accomplished to can save the packing time, reduce the cost of labor, optimize the sanitary conditions among the hamburger packaging process, improve the packing efficiency of hamburger.

Description

Hamburger packaging device and hamburger machine

Technical Field

The utility model relates to a hamburg preparation processing technology field specifically relates to a hamburg packing plant and hamburg machine.

Background

At present, hamburgers are manufactured and packaged manually, and the hamburgers are low in automation degree, time-consuming, labor-consuming and high in labor cost. With the acceleration of the pace of life, people have more and more demand for fast food of hamburgers, and particularly in the rush hours of getting on and off duty in the morning and evening, the efficiency of manually making hamburgers is extremely low, and the demand of users cannot be met in a short time. Therefore, in order to improve the hamburger making efficiency, reduce the labor cost and optimize the sanitary conditions in the hamburger making, a hamburger machine with higher automation degree needs to be provided urgently.

Disclosure of Invention

An object of the present disclosure is to provide a hamburger packaging apparatus and a hamburger machine equipped with the same to at least partially solve the problems in the related art.

In order to achieve the above object, the present disclosure provides a hamburger packaging apparatus comprising:

a frame;

the supporting plate mechanism is arranged on the rack and comprises a supporting plate for bearing packing paper, the packing paper is flatly laid on the supporting plate, and a hamburger is placed on the packing paper and reaches a first packing state;

the first paper folding mechanism is used for folding the packing paper upwards from the left side and the right side to achieve a second packing state, and folding the left side and the right side of the packing paper inwards to cover the hamburgers to achieve a third packing state; and

and the second paper folding mechanism is used for pressing the packing paper downwards from the front side and the rear side to reach a fourth packing state, and folding the front side and the rear side of the packing paper inwards to cover the hamburgers to reach a fifth packing state.

Optionally, the supporting plate comprises two supporting plates arranged at intervals in the left-right direction, and the two supporting plates are configured to be movable close to or away from each other.

Optionally, the pallet mechanism further comprises a support assembly supported below the wrapper, the support assembly being located between two of the pallets.

Optionally, the wrapping paper is releasably disposed above the supporting plate by vacuum adsorption, and a plurality of suction holes for adsorbing the wrapping paper are formed on the supporting plate and are communicated with the air passage of the vacuum generator.

Optionally, the first folding mechanism includes a first folding member configured as a horizontal folding plate,

the first folder is configured to: in the first packing state, the packing sheet is moved upward from both left and right sides of the bottom of the packing sheet to fold the packing sheet to a second packing state, and is moved inward from the second packing state to fold the packing sheet to a third packing state.

Optionally, the horizontal paper folding plate comprises two horizontal paper folding plate split bodies which are arranged in the front-back direction and can be opened and closed, and the horizontal paper folding plate split bodies can move downwards from the front-back end position of the hamburger after the third packaging state and before the fourth packaging state so as to pre-fold the packaging paper.

Optionally, the hamburger packaging device further comprises a hamburger clamping piece for clamping the hamburger from the left side and the right side and clamping the hamburger together with the wrapping paper upwards from the supporting plate, so that the second paper folding mechanism can fold the wrapping paper below the hamburger from the fourth packaging state to achieve the fifth packaging state.

Optionally, the hamburger clamp is configured as a vertical splint facing in a left-right direction and configured to be able to move left and right.

Optionally, the bottom of the vertical splint is formed with a horizontal portion extending towards the inside for carrying the hamburger.

Optionally, the second sheet folding mechanism includes a second sheet folding member configured as a sheet folding roller, an axis of the sheet folding roller extending in the left-right direction,

the second folder is configured to: in the third packing state, the front and rear ends above the packing paper are moved downward to press the packing paper to achieve a fourth packing state, and are moved inward from the fourth packing state to fold the packing paper to achieve a fifth packing state.

Optionally, the second folding mechanism further includes a third folding member configured as a vertical folding plate, the third folding member being provided on both left and right sides of the support plate and facing in the front-rear direction, the third folding member being adapted to move inward in a third packing state to sandwich a fold at a front-rear end position of the packing paper corresponding to the hamburger.

Optionally, the third folder is configured to be movable back and forth.

Optionally, the side of the vertical flap for contact with the wrapper slopes from bottom to top towards the inside.

Optionally, the hamburger packaging unit further comprises a gravity press block which can move up and down and is used for pressing the wrapping paper on the top of the hamburger in the third packaging state.

Optionally, the hamburger packaging device further comprises a picking mechanism for picking up the wrapping paper and placing the wrapping paper on the pallet, wherein the picking mechanism comprises a paper bin for storing the wrapping paper and a picking structure arranged outside the paper bin.

Optionally, a tray for containing the packing paper is arranged inside the paper bin, the tray can extend out of or retract into the paper bin, and an opening for extending the tray is formed in a bin wall of the paper bin.

Optionally, the tray comprises a plurality of trays arranged at intervals up and down for containing packing paper with different sizes, and the picking structure is arranged on the paper bin in a manner of moving up and down.

Optionally, the picking structure comprises a picking manipulator and a sucker assembly arranged at the end of the picking manipulator, and the picking manipulator is arranged on the outer side wall of the paper bin in a manner of moving up and down.

Optionally, the sucker assembly comprises a sucker fixing plate and a plurality of suckers mounted on the sucker fixing plate, and the sucker fixing plate can rotate around a vertical center line.

Optionally, a plurality of the suction cups are at least partially position-adjustably arranged on the suction cup fixing plate.

According to a second aspect of the present disclosure there is provided a hamburger machine comprising a hamburger packaging apparatus according to the above.

Through above-mentioned technical scheme, can realize automatic packing through the hamburg packing plant that this disclosure provided after the hamburg preparation is accomplished to can save time, reduce the cost of labor, optimize the sanitary condition among the hamburg packaging process, improve hamburg packing efficiency.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a schematic diagram of a hamburger packaging unit provided by an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic diagram of the structure of the pallet mechanism in the hamburger packaging unit shown in FIG. 1;

FIG. 3 is a schematic diagram of the first folding mechanism of the hamburger packaging unit shown in FIG. 1;

FIG. 4 is a schematic view of the hamburger packaging unit shown in FIG. 1 at another angle of the first folding mechanism;

FIG. 5 is a schematic diagram of a second folding mechanism of the hamburger packaging unit shown in FIG. 1;

fig. 6 is a schematic structural view of a second folder in the second folder mechanism shown in fig. 5;

fig. 7 is a schematic view of the second folding mechanism of fig. 5 at another angle of the second folding member;

fig. 8 is a schematic structural view of a third sheet folding member in the second sheet folding mechanism shown in fig. 5;

FIG. 9 is a schematic view of the third folding mechanism of FIG. 5 at another angle;

FIG. 10 is a schematic diagram of the arrangement of the hamburger clamp in the hamburger packaging appliance shown in FIG. 1;

FIG. 11 is a schematic structural view of a pick-up mechanism provided in an exemplary embodiment of the present disclosure;

FIG. 12 is a schematic view of the suction cup assembly of the pick mechanism shown in FIG. 11;

FIG. 13 is a schematic structural view of a wrapper in each packaged condition provided by an exemplary embodiment of the present disclosure;

fig. 14 is a schematic view of the structure of a wrapping paper in each packaged state provided by another exemplary embodiment of the present disclosure.

Description of the reference numerals

4001-packaging paper; 4100-frame; 4110-a base plate; 4120-top plate; 4130-a support frame; 4140-a third mounting plate; 4141-electric cylinder; 4142-third guide bar; 4200-pallet mechanism, 4210-pallet; 4211-suction hole; 4220-a support assembly; 4231-a first drive motor; 4232-a first lead screw; 4233-a first nut; 4241-a first linear rail; 4242-a first slider; 4250-guide rail cushion block; 4300-first paper folding mechanism; 4310-first folder; 4311-horizontal paper folding board split; 4320-first mounting plate; 4331-second drive motor; 4341-first guide bar; 4351-third drive motor; 4352-first gear; 4353-first rack; 4361-third wire track; 4362-third slider; 4371-fourth drive motor; 4372-second gear; 4373-second rack; 4381-fourth line rail; 4382-fourth slider; 4390-push plate; 4400-a second folding mechanism; 4401-a second mounting plate; 4410-a second folder; 4420-a third paper fold; 4431-a cylinder; 4441-fifth line rail; 4442-a fifth slider; 4451-a sixth drive motor; 4461-sixth line rail; 4462-a sixth slider; 4471-a seventh drive motor; 4472-a third gear; 4473-a third rack; 4481-seventh line rail; 4482-a seventh slider; 4491-eighth drive motor; 4492-eighth wire track; 4493-eighth slider; 4500-hamburger grip; 4511-conveyor belt; 4512-pulley; 4513-ninth drive motor; 4514-conveyor belt briquetting; 4521-ninth wire rail; 4522-ninth slide; 4530-lightening holes; 4600-gravity briquetting; 4610-a lifting drive motor; 4620-a pulley; 4630-a second guide bar; 4640-a guide wheel; 4700-a pick-up mechanism; 4710-a paper bin; 4711-a tray; 4720-a pick-up structure; 4721-a pick-up robot; 4722-a suction cup assembly; 47221-chuck fixing plate; 47222-a suction cup; 47223-a tube body; 47224-second via; 47225-a rail assembly; 4810 Linear module.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, unless otherwise stated, the terms of orientation such as "upper", "lower", "top", "bottom", "front", "rear", "left" and "right" are generally defined according to the normal use of the hamburger package, and refer specifically to the orientation of the drawing shown in fig. 1; "inner" and "outer" refer to the inner and outer contours of the respective components. Furthermore, the terms "first," "second," and the like, as used in this disclosure, are intended to distinguish one element from another, and not necessarily for order or importance. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated.

Referring to fig. 1, an embodiment of the present disclosure provides a hamburger packaging apparatus including a frame 4100, a pallet mechanism 4200, a first folding mechanism 4300, and a second folding mechanism 4400. The housing 4100 may include a bottom plate 4110, a top plate 4120, and a support frame 4130, the support frame 4130 may be disposed in front of the bottom plate 4110, the top plate 4120 may be disposed on the support frame 4130 to move back and forth, the tray mechanism 4200 and the first paper folding mechanism 4300 may be disposed above the bottom plate 4110, respectively, and the second paper folding mechanism 4400 may be disposed below the top plate 4120 to move back and forth under the driving of the top plate 4120. The hamburger packaging apparatus may include a driving mechanism for driving the top plate 4120 to move in the front-rear direction, and the driving mechanism may include a linear module 4810 fixed to the support frame 4130, and the top plate 4120 is coupled to a slider of the linear module 4810 to be linearly moved in the front-rear direction by the slider. Referring to fig. 13, the hamburger packaging apparatus provided by the present disclosure can gradually complete the packaging of hamburgers by allowing the wrapper 4001 to have different packaging states. Specifically, the pallet mechanism 4200 may include a pallet 4210 for carrying the wrapper 4001, and a first packing state is achieved when the wrapper 4001 is laid flat on the pallet 4210 and hamburgers are placed on the wrapper 4001; the first folding mechanism 4300 may be used to fold up the packing paper 4001 from both left and right sides to reach a second packing state; the first paper folding mechanism 4300 can also fold the left side and the right side of the packing paper 4001 inwards to cover the top of the hamburger so as to achieve a third packing state; the second folding mechanism 4400 may be configured to press the packing paper 4001 downward from both front and rear sides to achieve a fourth packing state; the second paper folding mechanism 4400 can also fold the front side and the rear side of the packing paper 4001 inwards to cover the bottom of the hamburger so as to achieve a fifth packing state, and therefore automatic packing of the hamburger is completed. When the wrapping paper 4001 is placed on the supporting plate 4210 and the first paper folding mechanism 4300 works, the second paper folding mechanism 4400 can be moved to the front position of the bottom plate 4110, so that interference between the supporting plate mechanism 4200 and the first paper folding mechanism 4300 can be avoided, and after the wrapping paper 4001 reaches a third packaging state, the second paper folding mechanism 4400 can be controlled to move backwards to be right above the bottom plate 4110, so as to perform the next packaging operation.

Through above-mentioned technical scheme, can adopt the hamburg packing plant that this disclosure provided to realize automatic packing after the hamburg preparation is accomplished to can save the packing time, reduce the cost of labor, optimize the sanitary conditions among the hamburg packaging process, improve the packing efficiency of hamburg.

According to some embodiments, referring to fig. 2, the pallet 4210 may include two pallets 4210 arranged at a distance in the left-right direction, and the two pallets 4210 are configured to be movable toward or away from each other to be able to accommodate wrappers 4001 of different sizes.

Further, referring to fig. 2, the tray mechanism 4200 may include a first driving assembly for driving the tray 4210 to move in a left-right direction, and a first guide assembly for guiding the left-right movement of the tray 4210. As an embodiment, the first driving assembly may include a first driving motor 4231 capable of outputting a rotational motion, a first lead screw 4232 axially connected to an output end of the first driving motor 4231, and a first nut 4233 sleeved outside the first lead screw 4232, the first lead screw 4232 may extend in a left-right direction, and the support plate 4210 may be fixedly connected to the first nut 4233 to achieve a linear movement of the support plate 4210 by a linear movement of the first nut 4233 with respect to the first lead screw 4232. In order to save the arrangement space, referring to fig. 2, the first nut 4233 may include two first nuts 4233 spaced apart from each other on the first lead screw 4232, the two first nuts 4233 are rotated in opposite directions, and the two support plates 4210 may be connected to the two first nuts 4233, respectively, so that one first driving motor 4231 may drive the two support plates 4210 to move simultaneously, and the movement consistency of the two support plates 4210 is ensured. As an embodiment, referring to fig. 2, the first guide assembly may include a first track 4241 extending in a left-right direction, and a first slider 4242 slidably connected to the first track 4241, and the support plate 4210 may be fixedly connected to the first slider 4242 to move the support plate 4210 along the first track 4241 via the first slider 4242. The first sliders 4242 may include two first sliders 4241 spaced apart from each other, and the two support plates 4210 may be connected to the two first sliders 4242, respectively, so as to further save the arrangement space and ensure the relative position accuracy of the two support plates 4210 during the movement process.

Here, in order to allow each position of the plate 4210 to be uniformly guided, as shown in fig. 2, the number of the first guide assemblies may be two, and the two first guide assemblies are spaced apart in the front-rear direction and are connected to the front and rear ends of the plate 4210, respectively.

According to some embodiments, referring to fig. 2, the pallet mechanism 4200 may further include a support assembly 4220 supported below the packing paper 4001, and the support assembly 4220 may be located between two pallets 4210 spaced left and right to provide a supporting force for a hanging portion of the packing paper 4001 between the two pallets 4210. Wherein the support members 4220 are also movable in left-right and front-back directions to accommodate wrappers 4001 of different sizes or to accommodate different positions of hamburgers placed on the wrappers 4001. In addition, the support members 4220 may also include multiple sets to provide sufficient support for the wrapper 4001 and the hamburgers. As an embodiment, referring to fig. 1 and 2, the support plate 4210 may be disposed above the base plate 4110 by a rail pad 4250 at a distance, the first line rail 4241 may be disposed on the top of the rail pad 4250, the support assembly 4220 may be disposed between the base plate 4110 and the support plate 4210, and the first driving assembly may be disposed below the base plate 4110.

According to some embodiments, the wrapper 4001 may be releasably disposed above the pallet 4210 by vacuum suction so that the wrapper 4001 may be suction-fixed to the pallet 4210 from moving in the first packing state, and so that the wrapper 4001 may be released in the fourth packing state to be able to be pinched upward from the pallet 4210 to enable the front and rear sides of the wrapper 4001 to be folded inward to cover the bottom of the hamburger. Referring to fig. 2, a plurality of suction holes 4211 for sucking the packing paper 4001 may be formed on the supporting plate 4210, the suction holes 4211 may be in air path communication with a vacuum generator, for example, the suction holes 4211 may be connected to the vacuum generator through a gas pipe. In order to secure the suction fixing effect of the packing paper 4001 while realizing the lightweight design of the pallet 4210, as shown in fig. 2, the pallet 4210 may be configured as a bar structure extending in the front-rear direction, the bar structure may include a plurality of protruding portions provided at intervals in the front-rear direction, and the suction holes 4211 may be uniformly arranged on the body and the protruding portions of the bar structure.

According to some embodiments, referring to fig. 3 and 4, the first folding mechanism 4300 may include first folding members 4310 configured as horizontal folding plates, the first folding members 4310 may be respectively disposed at left and right sides of the pallet 4210, and the first folding members 4310 may be configured to move upward from left and right sides of the bottom of the packing paper 4001 to fold the packing paper 4001 to a second packing state and move inward from the second packing state to fold the packing paper 4001 to a third packing state in the first packing state. That is, the first folder 4310 may move in the vertical direction and the left-right direction, respectively, and in the first packing state, the first folder 4310 is located below the packing paper 4001 to perform upward folding of the left and right sides of the packing paper 4001 by moving upward, and then in the second packing state, the first folder 4310 doubles the left and right sides of the packing paper 4001 inward to cover the top of the hamburger by moving in the left-right direction toward each other. Wherein, the side that is used for with the contact of wrapping paper 4001 of horizontal folded paper board can set up to the arc structure to avoid causing the fish tail to wrapping paper 4001.

Further, referring to fig. 3 and 4, the first folding mechanism 4300 may include a first mounting plate 4320 movable up and down, and the first folding member 4310 may be mounted above the first mounting plate 4320 so that the first folding member 4310 may be moved up and down in synchronization by the up and down movement of the first mounting plate 4320. The first folding mechanism 4300 may further include a second driving unit for driving the first folding member 4310 to move in the vertical direction, and a second guide unit for guiding the up-and-down movement of the first folding member 4310. As an embodiment, referring to fig. 3 and 4, the second driving assembly may include a second driving motor 4331 having a first linear output that may be vertically connected to a bottom of the first mounting plate 4320 to move the first mounting plate 4320 in a vertical direction. The second drive motor 4331 may be, for example, a first lead screw stepper motor. As an embodiment, referring to fig. 3 and 4, the second guide assembly may include a first guide rod 4341 vertically connected to the bottom of the first mounting plate 4320, the number of the first guide rods 4341 may be plural, and the first guide rod 4341 may be telescopically fixed on the base plate 4110.

Meanwhile, the first folding mechanism 4300 may further include a third driving unit for driving the first folding member 4310 to move in the left-right direction, and a third guide unit for guiding the left-right movement of the first folding member 4310. As an embodiment, referring to fig. 3 and 4, the third driving assembly may include a third driving motor 4351 capable of outputting a rotational motion, a first gear 4352 axially connected to an output end of the third driving motor 4351, and a first rack 4353 engaged with the first gear 4352, the first rack 4353 extending in the left-right direction, and the first rack 4353 may be fixed above the first mounting plate 4320, and the first folder 4310 may be connected to a housing of the third driving motor 4351 to enable a linear movement of the first folder 4310 by a linear movement of the housing of the third driving motor 4351 with respect to the first rack 4353. As an embodiment, referring to fig. 3 and 4, the third guide assembly may include a third line rail 4361 extending in the left-right direction, and a third slider 4362 slidably coupled to the third line rail 4361, the third line rail 4361 may be fixed above the first mounting plate 4320, and the first folder 4310 may be fixedly coupled to the third slider 4362 to move the first folder 4310 along the third line rail 4361 via the third slider 4362.

According to some embodiments, referring to fig. 4, the horizontal folding plate may include two horizontal folding plate division bodies 4311 provided in a front-rear direction to be openable, wherein the horizontal folding plate division bodies 4311 can be moved downward from front-rear end positions of the hamburger after the third packing state and before the fourth packing state to pre-fold the packing paper 4001. Specifically, in the second packaging state and the third packaging state, the two horizontal folding plate split bodies 4311 on each side are in a closed state of being in contact with each other, after the third packaging state is reached, the two horizontal folding plate split bodies 4311 on each side move away from each other in the front-back direction to the front-back side positions of the packaging paper 4001, and then the two horizontal folding plate split bodies 4311 opposite to each other on the left and right move downward after moving to the butt joint state, so that the pre-folding of the packaging paper 4001 is completed, and the subsequent packaging operation of the second folding mechanism 4400 is facilitated. Meanwhile, providing the first folder 4310 as a split structure also makes it possible to move the two horizontal folder plate split bodies 4311 away from each other in the front-rear direction after the third packing state, thereby enabling the first folder 4310 to be quickly removed from the top of the packing paper 4001.

Further, the first sheet folding mechanism 4300 may include a fourth driving unit for driving the horizontal sheet folding plate split 4311 to move in the front-rear direction, and a fourth guiding unit for guiding the front-rear movement of the horizontal sheet folding plate split 4311. As an embodiment, referring to fig. 3 and 4, the fourth driving assembly may include a fourth driving motor 4371 capable of outputting a rotational motion, a second gear 4372 axially connected to an output end of the fourth driving motor 4371, and a second rack 4373 engaged with the second gear 4372, the second driving motor 4371 may be fixed to the first mounting plate 4320, the second rack 4373 may extend in a front-rear direction, and the horizontal cardboard split 4311 may be fixedly connected to the second rack 4373 to enable a linear movement of the horizontal cardboard split 4311 by a linear movement of the second rack 4373 with respect to the second gear 4372. In order to save the arrangement space, the second rack 4373 may include two racks spaced apart from each other in the up-down direction, the two second racks 4373 may be respectively engaged with the upper and lower sides of the second gear 4372, and the two horizontal cardboard folding plate split bodies 4311 may be respectively connected to the two second racks 4373, so that one fourth driving motor 4371 may simultaneously drive the two horizontal cardboard folding plate split bodies 4311 to move. As an embodiment, referring to fig. 3 and 4, the fourth guide assembly may include a fourth line rail 4381 extending in a front-to-rear direction, and a fourth slider 4382 slidably connected to the fourth line rail 4381, and the horizontal cardboard-folding split 4311 may be fixedly connected to the fourth slider 4382 to drive the horizontal cardboard-folding split 4311 to move along the fourth line rail 4381 through the fourth slider 4382. In order to save the arrangement space and ensure the relative position accuracy of the two horizontal cardboard folding split bodies 4311 during the moving process, the fourth sliding block 4382 may include two horizontal cardboard folding split bodies 4311 spaced apart from each other on the fourth line rail 4381, and the two horizontal cardboard folding split bodies 4311 may be connected to the two fourth sliding blocks 4382, respectively.

It should be noted that, in the case that the horizontal cardboard folding plate includes two horizontal cardboard folding plate split bodies 4311, the third driving assembly can still drive the two horizontal cardboard folding plate split bodies 4311 at the same time. Specifically, referring to fig. 3 and 4, two horizontal cardboard folding split bodies 4311 may be fixed on the push plate 4390, and a housing of the third driving motor 4351 may be connected with the push plate 4390. The number of the third guiding assemblies can also be two, and the two groups of the third guiding assemblies are arranged at intervals along the front-back direction and can be respectively connected to the two horizontal paper folding plate split bodies 4311. Wherein, the third sliding blocks 4362 of the two sets of third guiding assemblies can be respectively connected with the pushing plate 4390. For convenience of arrangement, the fourth driving assembly and the fourth guiding assembly may be fixed on the pushing plate 4390, for example, the fourth driving motor 4371 and the fourth line rail 4381 may be connected to the pushing plate 4390, so that the effect of indirectly connecting the horizontal folding board split 4311 to the pushing plate 4390 through the fourth driving assembly and the fourth guiding assembly can be achieved. The laminated arrangement mode can save space and simplify the structure, and can drive the fourth driving component to move along the left and right directions through the third driving component, so that the progressive positioning in all directions is realized, and the simultaneous adjustment of the position precision in multiple directions is avoided.

Further, in order to ensure that the top of the hamburger can be completely covered with the packing paper 4001, in the third packing state, the two first folders 4310 may be formed with overlapping portions while moving in the left-right direction toward each other. That is, in the second packing state, the two first folders 4310 can be controlled to be at different heights, and the difference in height between the two can be small as long as collision interference is not generated when the relative movement is ensured, so that the loose packing of the top of the hamburger can be avoided, and the gap between the packing paper 4001 and the hamburger is reduced.

According to some embodiments, referring to fig. 5 to 7, the second paper folding mechanism 4400 may include a second paper folding member 4410 configured as a paper folding roller, the second paper folding member 4410 may include two paper folding members arranged in the front-rear direction, a hamburger may be located between the two paper folding members 4410, and an axis of the paper folding roller may extend in the left-right direction. Wherein the second folder 4410 may be configured to move downward from front and rear ends above the packing paper 4001 to press the packing paper 4001 to a fourth packing state and move inward from the fourth packing state to fold the packing paper 4001 to a fifth packing state in the third packing state. That is, the second paper folding member 4410 can be moved in the vertical direction and the front-rear direction, respectively, and in the third packing state, the second paper folding member 4410 is located above the packing paper 4001 to press the packing paper 4001 downward from both sides from front and rear by moving downward, and then in the fourth packing state, the second paper folding member 4410 is folded inward to cover the bottom of the hamburger by moving toward each other in the front-rear direction to fold both sides of the packing paper 4001 inward. The second paper folding part 4410 of the paper folding roller type can avoid damage to the packing paper 4001 in the packing process, and the arc-shaped roller can fully contact with the packing paper 4001, so that a good packing effect on the hamburgers is realized.

Here, the second sheet folding mechanism 4400 may include two sheet folding structures disposed at intervals in the front-rear direction and having the same configuration, the second sheet folding member 4410 may be disposed on the sheet folding structures, and the second sheet folding member 4410 may be vertically aligned with the centers of the two trays 4210.

Further, referring to fig. 6 and 7, the paper folding structure may include a second mounting plate 4401 movable up and down, and a second paper folding member 4410 is provided movable up and down below the second mounting plate 4401. The paper folding structure may further include a fifth driving assembly for driving the second paper folder 4410 to move in the vertical direction, and a fifth guide assembly for guiding the up-and-down movement of the second paper folder 4410. As an embodiment, referring to fig. 6 and 7, the fifth driving assembly may include an air cylinder 4431 having a second linear output, a cylinder of the air cylinder 4431 may be fixed to the second mounting plate 4401, and the second folder 4410 may be connected to the second linear output to move the second folder 4410 up and down by the movement of the second linear output in the vertical direction. As an embodiment, referring to fig. 6 and 7, the fifth guide assembly may include a fifth wire track 4441 extending in a vertical direction, and a fifth slider 4442 coupled to the fifth wire track 4441 in a fitting manner, the fifth slider 4442 may be fixed to the second mounting plate 4401, and the second folder 4410 may be fixedly coupled to the fifth wire track 4441 such that the second folder 4410 may be linearly moved by the linear movement of the fifth wire track 4441 with respect to the fifth slider 4442.

Further, the paper folding structure may further include a sixth driving unit for driving the second paper folder 4410 to move in the front-rear direction, and a sixth guiding unit for guiding the front-rear movement of the second paper folder 4410. As an embodiment, referring to fig. 6 and 7, the sixth driving assembly may include a sixth driving motor 4451 having a third linear output terminal to which the second folder 4410 may be connected to move the second folder 4410 back and forth by the movement of the third linear output terminal in the back and forth direction. The sixth driving motor 4451 may be, for example, a second lead screw stepping motor. As an embodiment, referring to fig. 6 and 7, the sixth guide assembly may include a sixth wire rail 4461 extending in the front and rear directions, and a sixth slider 4462 slidably coupled to the sixth wire rail 4461, the sixth wire rail 4461 may be fixed to the second mounting plate 4401, and the second folder 4410 may be fixedly coupled to the sixth slider 4462, so that the second folder 4410 may be linearly moved by the linear movement of the sixth slider 4462 along the sixth wire rail 4461.

It should be noted that in the fourth packing state, the two second paper folding members 4410 may be controlled to be located at different heights so that collision interference may not occur when the two second paper folding members 4410 move toward each other in the front-rear direction, and it is possible to ensure that the front and rear sides of the packing paper 4001 can have an overlapping portion after being folded at the bottom of the hamburger so that the bottom of the hamburger can be sufficiently covered with the packing paper 4001. As described above, the difference between the heights of the two second folder 4410 should not be too large to ensure the tight packing of hamburgers.

According to some embodiments, referring to fig. 5, 8 and 9, the second folding mechanism 4400 may further include a third folding member 4420 configured as a vertical folding plate, the third folding member 4420 may be respectively provided on the left and right sides of the tray 4210 and facing in the front-rear direction, and the third folding member 4420 may be configured to move inward in the third packing state to sandwich a fold at front and rear end positions of a corresponding hamburger of the packing sheet 4001. That is, referring to fig. 14, after the third packing state and before the fourth packing state, the third folder 4420 may be controlled to move toward each other in the left-right direction so that the front and rear end positions of the packing sheet 4001 corresponding to the hamburgers are creased, so that the following second folder 4410 can fold the packing sheet 4001 downward along the creases. Meanwhile, the crease can also increase the packing compactness of the packing paper 4001 to hamburgers to a certain extent, so that the packing is prevented from being loose.

Further, referring to fig. 8 and 9, a third folding member 4420 may be provided on the folding structure and positioned below the second mounting plate 4401. The paper folding structure may further include a seventh driving unit for driving the third paper folding member 4420 to move in the left-right direction, and a seventh guide unit for guiding the left-right movement of the third paper folding member 4420. As an embodiment, referring to fig. 8 and 9, the seventh driving assembly may include a seventh driving motor 4471 capable of outputting a rotational motion, a third gear 4472 axially connected to an output end of the seventh driving motor 4471, and a third rack 4473 engaged with the third gear 4472, the third rack 4473 may extend in the left-right direction, the seventh driving motor 4471 may be fixed to the second mounting plate 4401, and the third folder 4420 may be fixedly connected to the third rack 4473 to linearly move the third folder 4420 by the linear motion of the third rack 4473 with respect to the third gear 4472. In order to save the arrangement space, referring to fig. 8 and 9, the third rack 4473 may include two racks spaced apart in the front-rear direction, two third racks 4473 may be engaged with the front and rear sides of the third gear 4472, respectively, and two third racks 4420 may be coupled to the two third racks 4473, respectively, so that it is possible to simultaneously drive the two third racks 4420 to move by one seventh driving motor 4471. As an embodiment, referring to fig. 8 and 9, the seventh guide assembly may include a seventh wire rail 4481 extending in the left-right direction, and a seventh slider 4482 slidably coupled to the seventh wire rail 4481, the seventh wire rail 4481 may be fixed below the second mounting plate 4401, and the third paper folding member 4420 may be fixedly coupled to the seventh slider 4482, so that the third paper folding member 4420 may be linearly moved by the linear movement of the seventh slider 4482 along the seventh wire rail 4481.

According to some embodiments, the third folder 4420 may be further configured to be movable back and forth so that the third folder 4420 may be adjusted in position to correspond to the front and rear end positions of the hamburger. Accordingly, the second sheet folding mechanism 4400 may include an eighth driving member for driving the third sheet folding member 4420 to move in the front-rear direction, and an eighth guide member for guiding the front-rear movement of the third sheet folding member 4420. As an embodiment, referring to fig. 8 and 9, the eighth driving assembly may include an eighth driving motor 4491 having a fourth linear output terminal to which the third paper folder 4420 may be connected to move the third paper folder 4420 forward and backward by the movement of the fourth linear output terminal in the forward and backward direction. The eighth drive motor 4491 may be, for example, a third lead screw stepper motor. As an embodiment, referring to fig. 8 and 9, the eighth guide assembly may include an eighth line rail 4492 extending in the front-rear direction, and an eighth slider 4493 slidably coupled to the eighth line rail 4492, and the third folder 4420 may be fixedly coupled to the eighth slider 4493 to achieve linear movement of the third folder 4420 by linear movement of the eighth slider 4493 along the eighth line rail 4492.

Here, referring to fig. 5, 8 and 9, the second folding mechanism 4400 may further include a third mounting plate 4140 disposed movably up and down below the top plate 4120, and the above-described second mounting plate 4401 may be disposed movably back and forth below the third mounting plate 4140 to realize the back and forth movement of the third folding member 4420 by the back and forth movement of the second mounting plate 4401. Specifically, the housing of the eighth driving motor 4491 may be fixed to the third mounting plate 4140, the fourth linear output may be coupled to the second mounting plate 4401, the eighth wire track 4492 may be fixed to the bottom of the third mounting plate 4140, and the eighth slider 4493 may be coupled to the second mounting plate 4401.

Further, referring to fig. 8 and 9, in order to meet the requirements of the paper folding shape of the packing paper 4001, the side of the vertical paper folding plate for contacting the packing paper 4001 may be inclined from bottom to top toward the inside, and the inclined portion may be formed only at the lower end position of the vertical paper folding plate, i.e., the position contacting the packing paper 4001.

According to some embodiments, referring to fig. 1, 5 and 10, the hamburger packaging device may further include a hamburger holding member 4500 for holding a hamburger from left and right sides, the hamburger holding member 4500 may include two hamburger holders 4500 spaced apart in the left-right direction, the hamburger being located between the hamburger holding members 4500, the hamburger holding members 4500 may be used to hold the hamburger together with the wrapper 4001 upward from the pallet 4210 in the fourth packing state so that the second folder 4410 of the second folder mechanism 4400 can fold the wrapper 4001 from the fourth packing state to below the hamburger to achieve the fifth packing state. That is, the hamburger clamp 4500 may be configured to be movable in the left-right direction and the vertical direction, respectively, to enable clamping of the hamburger when moving in the left-right direction and to enable the hamburger together with the wrapper 4001 to be clamped up from the pallet 4210 when moving in the vertical direction.

Further, referring to fig. 10, a hamburger clamp 4500 can be configured as vertical cleats facing in a left-right direction to increase the contact area with the hamburger so that the hamburger is securely positioned between the two vertical cleats. The hamburger clamp 4500 can be mounted below the third mounting plate 4140. The hamburger packaging apparatus may include a ninth driving assembly for driving the hamburger clamp 4500 to move in the left-right direction, and a ninth guide assembly for guiding the left-right movement of the hamburger clamp 4500. As an embodiment, referring to fig. 10, the ninth driving assembly may include a belt 4511, pulleys 4512 at both ends of the belt 4511, and a ninth driving motor 4513 for driving at least one of the pulleys 4512 to rotate, the belt 4511 may extend in the left-right direction, the ninth driving motor 4513 may be fixed above the third mounting plate 4140, the pulley 4512 may be fixed at the bottom of the third mounting plate 4140, and the hamburger clamp 4500 may be fixedly connected to a belt press 4514 on the belt 4511 to achieve linear movement of the hamburger clamp 4500 through synchronous linear movement of the belt press 4514 with the belt 4511. Wherein, two vertical splint can be connected to the front side area and the back side area of conveyer belt 4511 respectively, and then can realize moving close to each other or keeping away from of two vertical splint. As an embodiment, referring to fig. 10, the ninth guide assembly may include a ninth wire rail 4521 extending in the left-right direction, and a ninth slider 4522 slidably coupled to the ninth wire rail 4521, the ninth wire rail 4521 may be fixed below the third mounting plate 4140, and the hamburger clamp 4500 may be fixedly coupled to the ninth slider 4522 to achieve linear movement of the hamburger clamp 4500 by linear movement of the ninth slider 4522 along the ninth wire rail 4521. To save the arrangement space, the ninth block 4522 may include two blocks spaced apart from the ninth wire rail 4521, and two vertical clamping plates may be respectively coupled to the two ninth blocks 4522.

Referring to fig. 10, in order to prevent the hamburger from falling down during being chucked, the bottom of the vertical clamping plate may be formed with a horizontal portion extending toward the inner side for carrying the hamburger.

In addition, to achieve a light weight design, as shown in fig. 10, the hamburger clamp 4500 may further include at least one weight-reducing hole 4530 formed therein.

According to some embodiments, referring to fig. 10, the hamburger packaging apparatus may further include a gravity pressing piece 4600 movable up and down, and the gravity pressing piece 4600 may be used to press the wrapper 4001 on the top of the hamburger in the third packaging state, so that the wrapper 4001 on the top of the hamburger may be prevented from being tilted upward after the first folder 4310 of the first folding mechanism 4300 is removed.

Further, the hamburger apparatus may include a lift assembly for driving the gravity block 4600 to move in a vertical direction. Referring to fig. 5, the lifting assembly may include a lifting driving motor 4610 capable of outputting a rotational motion, a pulley 4620 fixedly connected to an output end of the lifting driving motor 4610, and a hanger wound around the pulley 4620, one end of the hanger being fixed to the pulley 4620 and the other end thereof being connected to the weight block 4600, so that the lifting of the weight block 4600 may be achieved by winding or releasing the hanger on the pulley 4620. Wherein, the elevating driving motor 4610 may be fixed above the top plate 4120, the gravity block 4600 may be connected to the suspension member by a second guide bar 4630 vertically passing through the top plate 4120 and the third mounting plate 4140, and the second guide bar 4630 may guide the vertical movement of the gravity block 4600. A guide wheel 4640 may be further disposed between the pulley 4620 and the top of the second guide bar 4630, and the guide wheel 4640 may be disposed above the second guide bar 4630 to guide the suspension. The suspension member may be, for example, a rope or the like.

According to some embodiments, the third mounting plate 4140 is provided up and down movably below the top plate 4120 to enable the above-described preliminary vertical movement of the first folder 4310, the second folder 4410, the third folder 4420, and the hamburger clamp 4500 by the vertical movement of the third mounting plate 4140 with respect to the top plate 4120 when the third mounting plate 4140 and the top plate 4120 are synchronously moved in the front-rear direction to be directly above the bottom plate 4110. The hamburger packaging apparatus may include a driving structure for driving the third mounting plate 4140 to move in the vertical direction, and a guide structure for guiding the up-and-down movement of the third mounting plate 4140. As an embodiment, referring to fig. 1 and 5, the driving structure may include an electric cylinder 4141 having a fifth linear output, a cylinder body of the electric cylinder 4141 may be fixed to the top plate 4120, and a third mounting plate 4140 may be coupled to the fifth linear output to move the third mounting plate 4140 up and down by a linear movement of the fifth linear output in a vertical direction. As an embodiment, referring to fig. 1 and 5, the guide structure may include a third guide bar 4142 vertically coupled to the top of the third mounting plate 4140, the number of the third guide bar 4142 may be plural, and the third guide bar 4142 may be telescopically fixed to the top plate 4120.

It should be noted that, in order to ensure the positional accuracy when the respective parts are moved, the center lines of the two first folders 4310 in the left-right direction, the center lines of the two third folders 4420 in the left-right direction, the center lines of the two hamburger grippers 4500 in the left-right direction, and the center lines of the two support plates 4210 in the left-right direction are all located in the same vertical plane.

According to some embodiments, referring to fig. 11, the hamburger packaging apparatus may further comprise a pick-up mechanism 4700 for picking up the wrapper 4001 and placing the wrapper 4001 on a pallet 4210, such that automatic pick-up and placement of the wrapper 4001 may be achieved by the pick-up mechanism 4700. Among them, the picking mechanism 4700 may include a paper bin 4710 for storing the packing paper 4001 and a picking structure 4720 disposed outside the paper bin 4710 to pick up the packing paper 4001 inside the paper bin 4710 by the picking structure 4720. As an embodiment, the picking structure 4720 may be disposed on an outer sidewall of the paper bin 4710, such that the picking mechanism 4700 may be ensured to have good integrity.

Further, referring to fig. 11, the interior of the paper bin 4710 may be provided with trays 4711 for holding wrappers 4001, and the trays 4711 may be extended or retracted into the paper bin 4710 to control the extension of the trays 4711 out of the paper bin 4710 when the wrappers 4001 need to be picked up and to control the retraction of the trays 4711 into the interior of the paper bin 4710 after the wrappers 4001 are picked up. Wherein, the wall of the paper bin 4710 can be correspondingly provided with an opening for the tray 4711 to extend out.

In order to allow the interior of the paper warehouse 4710 to store packing papers 4001 of different sizes, referring to fig. 11, the tray 4711 may include a plurality of trays spaced up and down for respectively containing packing papers 4001 of different sizes, and the picking mechanism 4720 is correspondingly disposed on the paper warehouse 4710 to be movable up and down to be able to pick up the packing papers 4001 on each layer of the tray 4711. Meanwhile, the opening may include a plurality of openings that are arranged in a one-to-one correspondence with the upper and lower spaces of the tray 4711. The present disclosure does not limit the structural form of the vertical movement of the pickup mechanism 4720 and the structural form of the telescopic movement of the tray 4711, and the structures that can achieve the corresponding functions thereof fall within the scope of the present disclosure, and the paper hopper 4710, the tray 4711, and the pickup robot 4721 described below will not be described in an excessive amount here.

According to some embodiments, referring to fig. 11, the picking structure 4720 may include a picking robot 4721 and a suction cup assembly 4722 disposed at an end of the picking robot 4721, i.e., a picking operation of the wrapping paper 4001 in the paper bin 4710 may be achieved by an adsorption action of the suction cup assembly 4722 to the wrapping paper 4001. Wherein, the picking manipulator 4721 is provided on the outer sidewall of the paper bin 4710 to be movable up and down to drive the suction cup assembly 4722 to move up and down by the up and down movement of the picking manipulator 4721.

Further, referring to fig. 11 and 12, the suction cup assembly 4722 may include a suction cup fixing plate 47221 and a plurality of suction cups 47222 installed on the suction cup fixing plate 47221, the suction cup fixing plate 47221 may be rotated about a vertical center line to adjust a placement direction of the packing paper 4001, and the plurality of suction cups 47222 may suction-fix the packing paper 4001 firmly to the pick-up robot 4721.

Here, in order to be able to suck the packing paper 4001 of different sizes, a plurality of suction cups 47222 are provided on the suction cup fixing plate 47221 at least partially with positions adjustable. As an embodiment, referring to fig. 12, the suction plate 47222 may be fixed to the suction plate fixing plate 47221 by a pipe body 47223 communicating with a vacuum generator. Specifically, a first through hole through which the pipe body 47223 can pass can be formed on the suction plate fixing plate 47221, the position of the suction plate 47222 installed in the first through hole is not adjustable, a second through hole 47224 which is much larger than the diameter of the pipe body 47223 can be formed on the suction plate fixing plate 47221, the second through hole 47224 can be configured as a long hole extending in the diagonal direction of the suction plate fixing plate 47221, the long hole can be distributed at the corner position of the suction plate fixing plate 47221, and the pipe body 47223 of the suction plate 47222 which can realize the position adjustment can pass through the second through hole 47224 and can be movably fixed on the suction plate fixing plate 47221 in the extending direction of the long hole. Wherein, the position that the top of sucking disc fixed plate 47221 is close to rectangular hole can be provided with rail assembly 47225, and the guide rail of rail assembly 47225 can be arranged along the extending direction of rectangular hole, and body 47223 can be connected and fix on the guide block of rail assembly 47225 to make sucking disc 47222 can move in the direction of predetermineeing in order to adjust the position when can realizing fixed sucking disc 47222.

Further, to facilitate quick placement of the packing paper 4001 onto the pallet 4210, the pickup mechanism 4700 may be provided on one side of the pallet mechanism 4200 in the left-right direction, and the pickup structure 4720 may be provided on an outer side wall of the paper deck 4710 to be movable left and right, so that after the pickup structure 4720 has picked up the packing paper 4001, it may be directly moved toward the pallet 4210 to place the packing paper 4001 on the pallet 4210. Wherein, the opening of the paper bin 4710 for the tray 4711 to protrude out can be arranged towards the pallet mechanism 4200, so that the picking up work of the packing paper 4001 can be more conveniently realized, and the work efficiency is further improved.

The present disclosure also provides a hamburger machine, wherein the hamburger machine can include the above-mentioned hamburger packaging device. The hamburger machine has all the beneficial effects of the hamburger packaging device, and the details are not repeated.

The present disclosure also provides a method of packaging hamburgers that can use the hamburger packaging apparatus provided by the present disclosure above. In the case where the hamburger packaging apparatus has the structure of the preferred embodiment described above, the packaging method may specifically include the steps of:

first, a wrapping paper 4001 is picked up by using a picking mechanism 4700 and the wrapping paper 4001 is laid flat on a pallet 4210 of a pallet mechanism 4200 to achieve a first packing state;

secondly, placing the hamburgers on the packing paper 4001;

third, the first folding member 4310 of the first folding mechanism 4300 moves upward from the left and right sides of the bottom of the packing paper 4001 to fold the packing paper 4001 into the second packaged state;

a fourth step of moving the first folder 4310 inward from the left and right sides of the packing paper 4001 to fold the packing paper 4001 to cover the top of the hamburger to reach a third packing state;

a fifth step of removing the first folder 4130 from the top of the wrapper 4001 and pressing the gravity pressing piece 4600 against the wrapper 4001 on the top of the hamburger;

sixthly, the third folding member 4420 of the second folding mechanism 4400 moves inwards from the left side and the right side of the packing paper 4001 to clamp the front end position and the rear end position of the corresponding hamburger of the packing paper 4001 to form folds;

seventhly, the horizontal paper folding plate split 4311 of the first paper folding mechanism 4300 moves downwards from the position above the packing paper 4001 and corresponding to the front end and the rear end of the hamburger to pre-fold the packing paper 4001;

eighth, the second folder 4410 of the second folding mechanism 4400 moves downward from the front and rear sides above the packing paper 4001, and presses the packing paper 4001 along the crease to achieve a fourth packing state;

ninth, the hamburger clamp 4500 clamps the hamburger together with the wrapping paper 4001 upward from the support plate 4210;

tenth, the second folder 4410 moves inward in the front-rear direction to fold the front and rear sides of the packing paper 4001 inward to cover the bottom of the hamburger to achieve a fifth packing state and complete the packing of the hamburger.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A hamburger packaging unit comprising:

a gantry (4100);

the pallet mechanism (4200) is arranged on the frame (4100), the pallet mechanism (4200) comprises a pallet (4210) used for carrying packing paper (4001), the packing paper (4001) is flatly laid on the pallet (4210) and hamburgers are placed on the packing paper (4001) to reach a first packing state;

a first folding mechanism (4300) for folding the packing paper (4001) upward from left and right sides to reach a second packing state, and folding the left and right sides of the packing paper (4001) inward to cover the hamburger to reach a third packing state; and

a second paper folding mechanism (4400) for pressing the packing paper (4001) downwards from the front side and the back side to reach a fourth packing state, and folding the front side and the back side of the packing paper (4001) inwards to cover the hamburger to reach a fifth packing state; wherein the content of the first and second substances,

the first folding mechanism (4300) includes a first folding member (4310) configured as a horizontal folding plate,

the first folder (4310) is configured to: in the first packing state, the packing paper (4001) is folded by moving upward from the left and right sides of the bottom of the packing paper (4001) to a second packing state, and the packing paper (4001) is folded by moving inward from the second packing state to a third packing state.

2. A hamburger packaging apparatus according to claim 1 wherein said pallet (4210) comprises two spaced apart left and right pallets (4210), said pallets (4210) being configured to be movable toward and away from each other.

3. A hamburger packaging apparatus according to claim 2 wherein said pallet mechanism (4200) further comprises a support assembly (4220) supported below said wrapper (4001), said support assembly (4220) being located between two of said pallets (4210).

4. A hamburger packaging apparatus according to claim 1 wherein said wrapper (4001) is releasably disposed above said pallet (4210) by vacuum suction, said pallet (4210) having formed therein a plurality of suction holes (4211) for sucking said wrapper (4001), said suction holes (4211) being in communication with a vacuum generator air passage.

5. A hamburger packaging unit according to claim 1, characterised in that said horizontal folding plate comprises two horizontal folding plate segments (4311) arranged in a front-rear direction and openable and closable, said horizontal folding plate segments (4311) being movable downwards from a front-rear end position of said hamburger after the third packaging state and before the fourth packaging state to pre-fold said wrapping paper (4001).

6. A hamburger packaging apparatus according to claim 1 further comprising hamburger grips (4500) for gripping said hamburgers from both left and right sides and gripping said hamburgers with said wrapper (4001) upwardly from said pallet (4210) to enable said second folding mechanism (4400) to fold said wrapper (4001) from a fourth packaged condition to below said hamburgers to achieve a fifth packaged condition.

7. Hamburger packaging device according to claim 6 characterised in that said hamburger clamp (4500) is configured as a vertical clamp plate facing in the left-right direction and is configured to be able to move left-right.

8. A hamburger packaging according to claim 7 wherein the bottom of said vertical jaws is formed with a horizontal portion extending inwardly for carrying said hamburgers.

9. A hamburger packaging apparatus according to claim 6 wherein said second folding mechanism (4400) comprises a second folding member (4410) configured as a folding roller, an axis of said folding roller extending in a left-right direction,

the second folder (4410) is configured to: in a third packing state, the front and rear ends above the packing paper (4001) are moved downward to press the packing paper (4001) to achieve a fourth packing state, and the fourth packing state is moved inward to fold the packing paper (4001) to achieve a fifth packing state.

10. A hamburger packaging apparatus according to claim 6 wherein said second folding mechanism (4400) further comprises a third folding member (4420) configured as a vertical folding plate, said third folding member (4420) being provided on both left and right sides of said pallet (4210) and facing in the front-rear direction, said third folding member (4420) being adapted to move inwardly in a third packaging state to sandwich a fold at a front-rear end position of said wrapping paper (4001) corresponding to said hamburger.

11. A hamburger packaging apparatus according to claim 10 wherein said third fold (4420) is configured to be movable back and forth.

12. A hamburger packaging according to claim 10 wherein the side of said vertical flaps intended to come into contact with said wrapper (4001) slopes from bottom to top towards the inside.

13. A hamburger packaging apparatus according to claim 1 further comprising a gravity block (4600) movable up and down, said gravity block (4600) for compressing said wrapper (4001) at the top of said hamburger in said third packaging state.

14. The hamburger packaging apparatus according to claim 1, further comprising a pickup mechanism (4700) for picking up said wrapper (4001) and placing said wrapper (4001) on said pallet (4210), said pickup mechanism (4700) comprising a paper bin (4710) for storing said wrapper (4001) and a pickup structure (4720) disposed outside said paper bin (4710).

15. The hamburger packaging device according to claim 14, wherein a tray (4711) for containing said packing paper (4001) is arranged inside said paper bin (4710), said tray (4711) can be extended or retracted into said paper bin (4710), and an opening for extending said tray (4711) is opened on the bin wall of said paper bin (4710).

16. Hamburger packaging according to claim 15, characterised in that said tray (4711) comprises a plurality of trays arranged at an interval above and below for containing wrappers (4001) of different sizes, said pick-up means (4720) being arranged up and down on said magazine (4710).

17. The hamburger packaging apparatus according to claim 14 wherein said picking structure (4720) comprises a picking robot (4721) and a suction cup assembly (4722) disposed at an end of said picking robot (4721), said picking robot (4721) being disposed up and down movably on an outer sidewall of said magazine (4710).

18. The hamburger packaging apparatus according to claim 17 wherein said suction cup assembly (4722) comprises a suction cup securing plate (47221) and a plurality of suction cups (47222) mounted on said suction cup securing plate (47221), said suction cup securing plate (47221) being rotatable about a vertical centerline.

19. Hamburger packaging according to claim 18 characterised in that a plurality of said suction cups (47222) are arranged at least partly position-adjustably on said cup fixing plate (47221).

20. A hamburger machine comprising a hamburger packaging apparatus according to any one of claims 1-19.