WO2021139187A1 - Machine à wonton à emballage et mise en boîte entièrement automatiques - Google Patents

Machine à wonton à emballage et mise en boîte entièrement automatiques Download PDF

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

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Classifications

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

Definitions

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

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

Abstract

La présente invention concerne une machine à wonton à emballage et mise en boîte entièrement automatiques, qui peut résoudre les problèmes techniques de coûts élevés et d'agencements de lignes difficiles d'équipements de production de wonton automatiques existants. Une machine à wonton à emballage et mise en boîte entièrement automatiques comprend des manipulateurs, un mécanisme de transmission de manipulateurs et un entraînement d'éléments de préhension, les manipulateurs et l'entraînement d'éléments de préhension étant agencés séparément, et les manipulateurs étant reliés au mécanisme de transmission de manipulateurs ; lorsque les manipulateurs passent à travers l'entraînement d'éléments de préhension sous l'entraînement du mécanisme de transmission de manipulateurs, l'entraînement d'éléments de préhension agit sur les manipulateurs, et les éléments de préhension des manipulateurs sont ouvertes ; lorsque le mécanisme de transmission de manipulateurs entraîne les manipulateurs pour quitter l'entraînement d'éléments de préhension, l'entraînement d'éléments de préhension n'agit pas sur les manipulateurs, et les éléments de préhension des manipulateurs sont fermées. Dans la présente invention, un entraînement d'éléments de préhension est utilisé conjointement avec de multiples manipulateurs, de façon à réduire le nombre d'entraînements d'éléments de préhension et à simplifier la structure du manipulateur, réduisant ainsi les coûts de la machine.
PCT/CN2020/112949 2020-01-09 2020-09-02 Machine à wonton à emballage et mise en boîte entièrement automatiques WO2021139187A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022536554A JP7385960B2 (ja) 2020-01-09 2020-09-02 ワンタン全自動的包み・箱詰機

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CN202010022636.1 2020-01-09
CN202010022636.1A CN111034750A (zh) 2020-01-09 2020-01-09 一种全自动包裹、装盒馄饨机

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WO2021139187A1 true WO2021139187A1 (fr) 2021-07-15

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CN111034750A (zh) * 2020-01-09 2020-04-21 江南大学 一种全自动包裹、装盒馄饨机

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