KR20200012183A - Food automatic packing apparatus with robot manipulator - Google Patents

Abstract

The present invention relates to an automatic food packaging apparatus, and more specifically, to an automatic food packaging apparatus using a robot arm by mounting the automatic food packaging apparatus on the robotic arm so that food packaging containers having various types and sizes such as a pouch can be packaged by a single device. To this end, the present invention comprises: a cylinder fixedly mounted on the robot arm; a gripper mounted to face each other on a piston provided on upper and lower sides of the cylinder to adsorb both sides of the packaging container by negative pressure to open an input port; and a transfer unit mounted on the gripper, adsorbing the packaging container by the negative pressure, and transferring the packaging container to a predetermined position by operation of the robot arm.

Description

Food automatic packing apparatus with robot manipulator

The present invention relates to an automatic food packaging apparatus, and in particular, an automatic food packaging apparatus is mounted on a robot arm, and a food using a robot arm that enables packaging of food packaging containers having various types and sizes such as pouches by one device. Relates to an automatic packaging device.

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, the elevating rail is fixed to the upper end and is supported to be slidably movable up and down on the guide block 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 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 the negative pressure inlet to fill the food into the pouch It is an object of the present invention to provide an automatic food packaging device using a robot arm that can be applied to various pouches by greatly simplifying the structure by attaching a gripper to the robot arm, which is separated by suction.

Food automatic packaging device using a robot arm for achieving the above object,

A cylinder fixedly mounted to the robot arm;

A gripper which is mounted to face the piston provided on the upper and lower sides of the cylinder so as to face each other, and grips both sides of the packaging container by the suction pressure to open the inlet;

And a transfer part mounted on the gripper to transfer the packaging container to a predetermined position by the operation of the robot arm by adsorbing the packaging container by the town pressure.

And, each support bar is fixed to each piston of the cylinder, and each support bar is provided with a pair of adsorption parts, provided to face each other at the same position as the adsorption parts provided on different support bars.

In addition, the transfer unit is composed of an extension bar extending outward from the gripper and a pair of suction units mounted on the extension bar.

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

In addition, simply by changing the operating program of the robot arm drive and adsorption unit 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 apparatus using a robot arm according to the present invention.
Figure 3 shows only the gist of 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, the packaging device according to the present invention as shown in Figure 2 is mounted on the robot arm 400 can be freely changed position, it is also possible to grip operation to open the inlet of the packaging container.

To this end, a cylinder 100 is mounted at an end of the robot arm 400, and a gripper 200 for opening a packaging container, for example, a pouch opening, is mounted on the cylinder 100, and on the gripper 200. Transfer unit 300 for transporting the packaging container is mounted.

The structure of the cylinder 100, the gripper 200, and the transfer unit 300 is shown in FIG.

The cylinder 100 is a pneumatic cylinder that operates by pneumatic pressure, and the upper and lower pistons 110 and 111 are respectively installed to operate in opposite directions.

That is, when the piston 110 is compressed into the cylinder 100 by pneumatic pressure, the other piston 111 is similarly compressed into the cylinder 100, and the piston 110 is compressed by the pneumatic pressure of the cylinder 100. When extended outward, the other piston 111 is similarly extended out of the cylinder 100.

The grippers 200 are mounted to the pistons 110 and 111, and the grippers 200 are mounted to support bars 210 and 220 so as to extend horizontally side by side from the pistons 110 and 111, respectively. A pair of adsorption parts 230 and 240 are mounted.

Pneumatic hoses are connected to the adsorption parts 230 and 240 to adsorb the packaging container by the application of negative pressure, and the adsorption parts 230 and 240 are installed to face each other.

That is, the adsorption site of the adsorption unit 230 mounted on the support bar 210 is installed to face each other at the same position as the adsorption site of the adsorption unit 240 mounted on another support bar 220.

In addition, when the pistons 110 and 111 are compressed to be accommodated in the cylinder 100 to the maximum, the adsorption portions of the adsorption portions 230 and 240 may be spaced apart from each other.

On the other hand, the transfer part 300 is mounted in the lateral direction from any one of the support bar 220, the transfer part 300 is provided with an extension bar 310 to extend laterally from the support bar 220, Extension bar 310 is provided with a pair of adsorption unit 320 is connected to the pneumatic hose is also to transport and transport the packaging container by the negative pressure.

At this time, the adsorption site of the adsorption unit 320 is mounted to protrude further to the outside of the gripper 200.

This operation process of the present invention will be described.

First, the packaging containers stacked on the tray, that is, the pouches must be separated from the upper one by one. For this purpose, the robot arm 400 is transferred to the tray position so that the transfer part 300 is positioned on the upper side of the pouch, and then the adsorption part 320 is disposed. Apply a negative pressure to suction and attach one pouch.

When the pouch attached to the adsorption unit 320 is transferred to the separate shelf by the Robopal 400 and then placed on the shelf by the release of sound pressure, the robot arm 400 is the adsorption unit 230, 240 of the gripper 200. The pouch is transported so that the pouches are positioned between each other, and the adsorption parts 230 and 240 contact each other on both sides of the pouch by the compression of the pistons 110 and 111.

In this state, when a negative pressure is applied to the adsorption parts 230 and 240, and the pistons 110 and 111 extend in opposite directions, the inlet of the pouch is opened, and the robot arm 400 is located under the hopper accommodating the food. Moved by), the food is charged into the pouch.

When the filling of the food is completed as described above, the feeding part of the pouch is sealed by transferring the robot arm 400 to the position where the sealing device is installed in the state where the opening of the pouch is opened by the gripper 200.

Then, when the robot arm 400 is transferred to a separate shelf and then releases the negative pressure of the adsorption units 230 and 240, the pouch filled with food is placed on the shelf, and the pouch is adsorbed by the transfer unit 300 again. The robot arm will be moved back to the position to be taken out.

Of course, if you want to change the packaging process, instead of changing the structure of the packaging device, simply changing the operation program of the robot arm 400 and cylinder 100, the gripper 200, the transfer unit 300, various packaging containers The packaging process will be possible.

As described above, the present invention is very economical because it is carried out by a very simple packaging device mounted on the robot arm until it grips the packaging container, transfers the food to the feeding position, transfers it to the sealing position, and then takes it 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: cylinder
110,111: piston
200: gripper
210,220: Support bar
230,240: adsorption part
300: transfer unit
310: extension bar
320: adsorption unit
400: robot arm

Claims (3)

A cylinder fixedly mounted to the robot arm;
A gripper mounted on the pistons provided on the upper and lower sides of the cylinder to face each other, the gripper opening the inlet by adsorbing both side surfaces of the packaging container by the suction pressure;
Automatic food packaging apparatus using a robot arm, characterized in that consisting of; the transfer unit is mounted to the gripper and transports the packaging container to a predetermined position by the operation of the robot arm by absorbing the packaging container by the township.
According to claim 1, wherein each support bar is fixed to each piston of the cylinder, and each support bar is provided with a pair of adsorption parts, provided to face each other at the same position with the adsorption parts provided on different support bars Automatic food packaging device using a robot arm characterized in that.
The automatic food packaging apparatus using a robot arm according to claim 1, wherein the transfer unit comprises an extension bar extending outward from the gripper, and a pair of adsorption units mounted on the extension bar.

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