KR20200012184A - Food automatic packing apparatus with multi-joint arms - Google Patents

Abstract

The present invention relates to an automatic food packing device, specifically, to an automatic food packing device with a multi-joint arm, wherein an automatic food packing mechanism is installed in the multi-joint arm to pack various kinds and shapes of food packing containers, such as a pouch, with the single device. To achieve the purpose of the present invention, the automatic food packing device comprises: an X-axis transfer unit fixed to a frame and having a transfer unit for an X-axis direction; a Y-axis transfer unit transferred in the X-axis direction by being installed in the X-axis transfer unit and having a transfer unit for a Y-axis direction; a first joint unit transferred in the Y-axis direction by being installed in the Y-axis transfer unit and having a first rotating arm rotating up and down by power; a second joint unit installed in the rotating arm and having a second rotating arm rotating up and down by power; and a gripper for gripping a packing container by adsorbing the same to the second rotating arm by negative pressure.

Description

Food automatic packing apparatus with multi-joint arms

The present invention relates to an automatic food packaging apparatus, and more particularly, to a multi-articular arm equipped with an automatic food packaging apparatus on a multi-joint arm so that food packaging containers having various types and sizes, such as pouches, can be packaged by one device. It relates to an automatic food packaging device having.

Generally, retort foods, liquid juices, sauces and powders are packaged in pouches made of vinyl or aluminum.

The packaging is filled with the contents by a rotary packaging machine, which is an automated machine, and the process of filling the packaging with the packaging by the rotary packaging machine will be described in brief. As shown in FIG. In a state in which the individual packaging bags (P) supplied through the vertical support by the gripper 20 provided in the turntable (10) is upright, the turntable (10) is rotated to pack the contents through the contents filling unit (2). After filling the contents with (P), the turntable 10 is continuously rotated to hot seal the inlet of the bag, and then the bag is dropped from the gripper and taken out to the outside.

In such an automatic packaging machine, a gripper operating device for opening an opening of a packaging bag is disclosed in Patent Registration No. 10-1288787 (Gripper operating device of a rotary type automatic packing machine).

Accordingly, the first gripper and the second gripper having a turntable horizontally installed on the rotating shaft and a grip portion supported at each end on the turntable so as to be rotatable, and gripping the inlet side edge of the packaging bag at each other end and connected to each other. A spring member which connects a gripper, the first gripper and the second gripper to impart a spring force to rotate in the direction in which the respective grip parts are in close proximity to each other, and adjusts an opening angle between the first gripper and the second gripper. In the automatic packaging machine provided with means,

The adjusting means is located in the lower portion of the turntable and the rotating shaft penetrates the rotating shaft in the center and fixed to the base frame;

A fixed rail fixed to an upper surface of the fixed block and having an inclined surface at both ends thereof and having an arc shape;

A lifting rail having both ends corresponding to the inclined surface and formed in an arc shape and movable up and down;

Elevating means for moving the elevating rail up and down;

A horizontal lever rotatably supported by a bracket fixed to a lower surface of the turntable, and having a rolling lever rotatably supported by rolling rollers contacting the fixed rail and the lifting rail at an end thereof, and a vertical lever connected to an end of the first gripper; Push lever and;

A connecting means connecting the end of the vertical lever and the first gripper and adjusting the connecting length thereof;

According to the up and down position of the lifting rail, the push lever is interlocked with the first gripper so that the opening angle between the first gripper and the second gripper can be adjusted.

In addition, the connecting means has a first control tube which one side is rotatably connected to the vertical lever and the first female screw is formed on the other side, and one side is rotatably connected to the end of the first gripper and the second female screw on the other side. The second adjustment pipe formed, and the first male screw portion is screwed to the first female screw on one side is formed and the second male screw portion is screwed to the second female screw on the other side is formed and the adjustment bolt formed in the grip portion for rotating in the middle portion It is provided.

In addition, the elevating means is located on the lower side of the elevating rail guide block fixed to the fixed block, and the elevating rail is fixed to the upper end and is supported by the guide block so as to slide up and down and towed to the outer surface An elevating block having a protruding portion for protrudingly coupled to both ends of the pin, a pair of side plates having one end fixed to both sides of the guide block, a front plate fixed to the other end of each side plate, and each side surface A rotating block rotatably supported on a support shaft supported by the plate and having a first slit in which the traction pin is slidably coupled to the traction part and an interlocking portion formed at a predetermined angle with the traction part; An interlocking block having a body formed with an interlocking pin slidably coupled to the second slit at an end and a screw hole formed at the center thereof, It has a support that is supported so that the bolt portion 251 which is screwed to the screw hole 241a is provided on one side of the support portion and the adjustment block 250 provided with a handle 253 on the other side of the support portion 252 is provided. .

However, according to the conventional technology, since the structure of the automatic packaging machine should be changed according to the size and shape of the packaging container, that is, the pouch, there is a problem that is not very economical by providing the expensive packaging device according to each pouch.

In addition, since the structure of the packaging device must be changed according to the position of the outlet of the hopper for storing food, this also has to be changed accordingly, and the structure is very complicated, heavy, and very large power consumption, which is very uneconomical and There is an inefficient problem.

As a result, the structure of the packaging device according to the conditions of the site must be designed differently, of course, it can not be greatly beneficial in terms of usability because it can only be filled with food using a predetermined packaging container.

Therefore, in order to solve this problem in the related art, the packing port such as a pouch is sucked by a negative pressure to transport to the lower and outside of the hopper to the transport position, as well as negative pressure inlet to fill the food in the pouch It is an object of the present invention to provide an automatic food packaging apparatus having a multi-arm arm that can be applied to various pouches by greatly simplifying the structure by attaching a gripper to the articulated arm that is opened by adsorption.

Food automatic packaging device having a multi-joint arm for achieving the above object,

An X-axis feeder fixed to the frame and having a transfer means in the X-axis direction;

A Y-axis feeder mounted on the X-axis feeder and fed in the X-axis direction, the Y-axis feeder having a feeding means in the Y-axis direction;

A first joint part mounted on the Y-axis feeder and transferred in the Y-axis direction and having a first rotary arm rotated in a vertical direction by power;

A second joint part mounted to the rotary arm and having a second rotary arm rotated vertically by a power;

And a gripper for adsorbing and gripping the packaging container by the town pressure to the second rotary arm.

And, the first joint portion

A first motor;

A first rotating arm mounted on a rotating shaft of the first motor to rotate in a vertical direction; the first rotating arms are mounted on both sides of the first motor and installed in a pair.

And, the second joint portion

A second motor mounted on one side of the rotating arm of the first joint part;

A second rotary arm mounted on the other side of the rotary arm;

It comprises a link connecting portion for transmitting power by connecting the shaft and the second rotary arm of the second motor.

In addition, the gripper is

A cylinder is mounted on the second rotary arm of the second joint part, and a support bar is fixed to each piston provided on the upper and lower sides of the cylinder, and each support bar is provided with a pair of adsorption parts. It is provided to face each other at the same position as the provided adsorption unit.

The present invention as described above is filled with food by the gripper mounted on the joint and the X-axis and Y-axis transport unit for transporting, and also the transport structure to the outside to be transported to the outside position is very simple, so the cost It is very advantageous in terms of aspects.

In addition, simply by changing the program for the operation of the transfer unit and the gripper can be filled with food in a variety of packaging, there is a great advantage in terms of usability.

1 is a schematic view showing a conventional automatic packaging machine.
Figure 2 is a view showing the structure of the automatic food packaging device having a multi-joint arm according to the present invention.

The above objects, features, and advantages will be described in detail with reference to the accompanying drawings, and thus, those skilled in the art may easily implement the technical idea of the present invention.

In describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

The terms used in the present invention have been selected as widely used general terms as possible in consideration of the functions in the present invention, but this may vary according to the intention or precedent of the person skilled in the art, the emergence of new technologies, and the like.

In addition, in certain cases, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the invention.

Therefore, the terms used in the present invention should be defined based on the meanings of the terms and the general contents of the present invention, rather than simply the names of the terms.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

However, embodiments of the present invention illustrated below may be modified in various other forms, and the scope of the present invention is not limited to the embodiments described below.

The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art.

First, as shown in FIG. 2, the packaging apparatus according to the present invention is fixed to the frame 100 to be transported to the X-axis and the Y-axis, rotated in the vertical direction, and the opening of the opening by gripping the packaging container is possible and freely. Position change is possible.

To this end, the present invention is largely composed of the X-axis transfer unit 200, the Y-axis transfer unit 300, the first joint 400, the second joint 500, and the gripper 600.

The X-axis transfer unit 200 is installed on the fixed frame 100, and is provided with a transfer means for transferring the transfer in the X-axis direction, that is, the left and right direction, for example, in the form of a chain or belt conveyor When water is mounted on it, it is transported in the X-axis direction.

The lower side of the X-axis conveying unit 200 is mounted to the Y-axis conveying unit 300, which is a conveying object to convey the conveyed object in the Y-axis direction, that is, the front and rear direction, which is also in the form of a chain or belt conveyor like the X-axis conveying unit 200 It is to be conveyed in the Y-axis direction by mounting the conveyed material.

The first joint 400 having a first rotary arm 420 rotates in the vertical direction while being transferred to the Y-axis by the Y-axis feeder 300 is mounted below the Y-axis feeder 300. Articulation unit 400 is the first motor 410 is connected to the Y-axis transfer unit 300 by a connecting means, each of the first rotation on the motor shaft 411 provided on both left and right sides of the first mosquito 410 The upper side of the arm 420 is mounted.

The first rotary arm 420 is in the form of a plate, the upper side is fixed to the motor shaft 411 is fixed and mounted to rotate in the vertical direction in accordance with the rotation of the motor shaft 411.

Therefore, the first joint 400 is rotated in the vertical direction while the first rotary arm 420 is transferred in the front-rear direction on the Y-axis transfer unit 300.

The second joint part 500 is mounted on the first joint part 400 to rotate in the vertical direction. The second joint part 500 is a second motor 510 at an intermediate part of the first rotary arm 420. ) Is fixedly mounted, and a rotation shaft 515 is fixed to a lower portion of the first rotation arm 420, and a second rotation arm 520 is installed to rotate in the vertical direction through the rotation shaft 515. It is.

The first link 512 and the second link 513 to connect the motor shaft 511 and the rotation shaft 515 of the second motor 510 to transfer the power of the second motor 510 to the rotation shaft 515. And a link connecting portion formed of a link bar 514, wherein the first link 512 is cam-shaped and is attached to the motor shaft 511, and the second link 513 is connected to the rotation shaft 515. The first link 512 and the second link 513 are connected to each other by the link bar 514.

Power by the forward and reverse rotation of the motor shaft 511 is transmitted to the rotary shaft 515 by such a link connecting portion so that the rotary shaft 515 rotates in the vertical direction, the second rotary arm on the rotary shaft 515 520 is mounted so that the second rotary arm 520 also rotates in the vertical direction in the same manner as the rotary shaft 515.

The second rotary arm 520 is equipped with a gripper 600 for transporting a packaging container, for example a pouch and opening the inlet, the gripper 600 is a cylinder 610, a pair of support bars 620 and 630, and adsorption parts 640 and 650.

The cylinder 610 is a pneumatic cylinder operated by pneumatic, the body is fixed to the second rotary arm 520, the pistons (611, 612) are respectively installed on both sides thereof to operate in the opposite direction.

That is, when the piston 611 is compressed into the cylinder 610 by pneumatic pressure, the other piston 612 is similarly compressed into the cylinder 610, and the piston 611 is compressed by the pneumatic pressure of the cylinder 610. When extended outward, the other piston 612 likewise extends out of the cylinder 610.

The support bars 620 and 630 are fixed to the pistons 611 and 612, respectively, and the support bars 620 and 630 are mounted to face each other and extend in parallel to each other, and each support bar 620 and 630 has a pair of adsorption parts ( 640,650).

Pneumatic hoses are connected to the adsorption parts 640 and 650 to adsorb the packaging container by the application of negative pressure, and the adsorption parts 640 and 650 are installed to face each other.

That is, the adsorption site of the adsorption unit 640 mounted to the support bar 620 is installed to face each other at the same position as the adsorption site of the adsorption unit 650 mounted to another support bar 630.

In addition, when the pistons 611 and 612 are compressed to be accommodated in the cylinder 610 to the maximum, the suction parts of the suction parts 640 and 650 may be spaced apart from each other.

This operation process of the present invention will be described.

First, the gripper 600 is gripped by the X-axis transfer unit 200 and the Y-axis transfer unit 300 in order to transfer the packaging container to the lower portion of the hopper for storing the food by gripping the packaging container, the pouch. Is transported to the position of the packaging container for, the gripper 600 by the vertical rotation of the first joint portion 400 is transported to the height of the packaging container.

When the pouches of the adsorption parts 640 and 650 are positioned, the adsorption parts 640 and 650 abut on each side of the pouch by compression of the pistons 611 and 612.

In this state, when negative pressure is applied to the adsorption parts 640 and 650, and the pistons 611 and 612 extend in opposite directions, the inlet of the pouch is opened. In this state, food falling from the hopper is filled into the pouch and filled. It will be done.

When the filling of the food is completed in this way, the gripper 600 in the state opening the opening of the pouch in the X-axis transfer unit 200, Y-axis transfer unit 300, the first joint 400, and the second joint 500 By the gripper 600 is transferred to the position where the sealing device is installed by the inlet of the pouch is sealed.

Subsequently, after being transferred by the X-axis feeder 200, the Y-axis feeder 300, the first joint 400, and the second joint 500 by a separate shelf, the negative pressure of the adsorption parts 640 and 650 is released. In this case, the pouch filled with food is placed on the shelf so that it can be taken out to the outside.

Of course, if you want to change the packaging process, instead of changing the structure of the packaging device, but simply the X-axis transfer unit 200, Y-axis transfer unit 300, the first joint portion 400, and the second joint portion 500 If only the operation program is changed, various packaging containers can be packaged.

As described above, the present invention is very economical because it is carried out by a packaging device having a very simple structure having all of the articulated arms until the packaging container is gripped, the food is fed to the feeding position, the food is transferred to the sealing position, and then taken out to the outside. The efficiency is high.

As described above in detail specific parts of the present invention, it is apparent to those skilled in the art that such specific descriptions are merely preferred embodiments, and thus the scope of the present invention is not limited thereto. something to do.

Thus, the substantial scope of the present invention will be defined by the appended claims and their equivalents.

100: frame
200: X axis transfer part
300: Y axis feeder
400: first joint
410: the first motor
420: first rotating arm
500: second joint
510: second motor
512: first link
513: second link
514: link bar
520: second rotary arm
600: Gripper
610: cylinder
611,612: Piston
620,630: Support Bar
640,650: adsorption part

Claims (4)

An X-axis feeder fixed to the frame and having a transfer means in the X-axis direction;
A Y-axis feeder mounted on the X-axis feeder and fed in the X-axis direction, the Y-axis feeder having a feeding means in the Y-axis direction;
A first joint part mounted on the Y-axis feeder and transferred in the Y-axis direction and having a first rotary arm rotated in a vertical direction by power;
A second joint part mounted to the rotary arm and having a second rotary arm rotated vertically by a power;
Automatic gripper food having a multi-joint arm, characterized in that consisting of; a gripper for adsorbing and gripping the packaging container by the township to the second rotary arm.
The method of claim 1, wherein the first joint portion
A first motor;
A first rotary arm mounted on a rotating shaft of the first motor to rotate in a vertical direction, wherein the first rotary arm is mounted on both sides of the first motor and installed in pairs side by side. Having food automatic packaging device.
The method of claim 1, wherein the second joint portion
A second motor mounted on one side of the rotating arm of the first joint part;
A second rotary arm mounted on the other side of the rotary arm;
Linking unit for transmitting power by connecting the shaft and the second rotary arm of the second motor; Automatic food packaging device having a multiple articulated arm.
The method of claim 1, wherein the gripper
A cylinder is mounted on the second rotary arm of the second joint part, and a support bar is fixed to each piston provided on the upper and lower sides of the cylinder, and each support bar is provided with a pair of adsorption parts. Automatic food packaging device having a multi-joint arm, characterized in that provided to face each other at the same position with the provided adsorption unit.

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