A kind of stewing raw material feeding device and feeding method thereof

Abstract

The present invention discloses a device for feeding raw materials for stewing and a feeding method thereof, comprising a stewing production line, a material frame transfer robot is provided on one side of the stewing production line, a material frame clamping mechanism is provided on the material frame transfer robot, and a material frame conveying mechanism is provided upstream of the material frame transfer robot. The mechanized automatic feeding of raw materials is realized, which not only reduces the labor intensity, labor volume and labor cost of workers, but also effectively ensures the rhythm and progress of production continuity; at the same time, the production stability is good and the work efficiency is high; in addition, it helps to improve the working environment and avoids the problem that sweat falls into the raw material frame and affects the sanitary quality of the product.

Description

Technical Field

[0001] The invention relates to the technical field of braising equipment, and in particular to a braising raw material feeding device and a feeding method thereof. Background Art

[0002] As the market demand for marinated products increases and the quality requirements for marinated products become higher and higher, marinated product manufacturers are required to produce a large number of high-quality marinated products in a short period of time. At present, the transportation method of marinated products in the marinated industry adopts manual handling of raw materials or semi-automatic handling. The above work is dominated by manual labor, which not only cannot meet the market demand, but also has the following defects:

[0003] 1. Workers have high labor intensity and are easily fatigued;

[0004] 2. Manual operation will affect the production rhythm and continuity, which will in turn affect the production progress;

[0005] 3. Low work efficiency and poor production stability;

[0006] 4. The temperature in the workshop is high, and sweat may fall into the raw material frame, which not only affects the sanitary quality of the product, but also makes workers prone to heatstroke due to being in a high temperature environment for a long time. Summary of the invention

[0007] The technical problem to be solved by the embodiments of the present invention is to provide a device for feeding raw materials for stewing, so as to achieve mechanized automatic feeding and improve work efficiency.

[0008] In order to solve the above technical problems, the technical solution of the present invention is: a braising raw material loading device, including a braising production line, a material frame transfer robot is provided on one side of the braising production line, and a material frame clamping mechanism is provided on the material frame transfer robot; a material frame conveying mechanism is provided upstream of the material frame transfer robot.

[0009] As an improvement, the material frame clamping mechanism includes a connecting plate connected to the material frame transfer robot, one side of the connecting plate is hinged with a first power element, and the other side of the connecting plate is respectively provided with a fixed clamping plate and a movable clamping plate, the fixed clamping plate is fixedly mounted on the connecting plate, and the movable clamping plate is hinged on the connecting plate and hinged with the first power element;

[0010] The movable clamping plate is provided with a clamping structure and an end limiting structure; the connecting plate is provided with a material frame upper edge limiting structure.

[0011] As a further improvement, the clamping structure comprises at least two clamping blocks arranged on the movable clamping plate, and the clamping blocks are provided with clamping slots;

[0012] The end limiting structure includes a stopper provided at the end of the movable clamping plate;

[0013] The upper edge limiting structure of the material frame includes at least two L-shaped limiting blocks arranged on the connecting plate, the limiting blocks are bent toward the clamping blocks, and the lower surfaces of the limiting blocks are arranged higher than the clamping slots.

[0014] As a further improvement, the corners of the stopper are provided with inclined guide portions;

[0015] The connecting plate is provided with a connecting column, and the connecting column is provided with a first connecting flange;

[0016] The fixed splint and the movable splint are both provided with a plurality of weight-reducing holes; and the non-working sides of the fixed splint and the movable splint are provided with a plurality of reinforcing ribs.

[0017] As an improvement, the material frame clamping mechanism includes a connecting frame connected to the material frame transfer robot, and a clamping plate driven by a second power element is slidably mounted on the connecting frame. The clamping plates are provided with at least two and are arranged opposite to each other. At least two positioning pins are provided on the two oppositely arranged clamping plates and on the side where the two clamping plates are close to each other; each clamping plate is provided with an elastic pushing mechanism.

[0018] As a further improvement, the elastic pushing mechanism includes a push plate arranged corresponding to the positioning pin, and the push plate is provided with a through hole;

[0019] At least two guide connecting columns are arranged on the push plate, and the other end of the guide connecting column passes through the clamping plate, and a limiting nut is threadedly installed on the guide connecting column passing through the clamping plate; a spring is mounted on the guide connecting column located between the clamping plate and the push plate.

[0020] As a further improvement, the working end of the positioning pin is configured as a pointed end;

[0021] The push plate is configured to be L-shaped and protrudes from the end of the push plate, and the L-shaped push plate is bent toward the clamping plate;

[0022] The connecting frame is provided with at least two guide slide bars, and the clamping plate is slidably mounted on the guide slide bars.

[0023] As a further improvement, the connecting frame includes a frame body, a second connecting flange is provided on one side of the frame body, a mounting groove is provided on the other side of the frame body, and the guide slide rod is arranged in the mounting groove.

[0024] As a further improvement, the material frame conveying mechanism includes at least one first conveying frame for conveying the material frame, the first conveying frame is located on one side of the braising production line and is arranged upstream of the material frame transfer robot; and also includes a second conveying frame arranged upstream of the first conveying frame and arranged vertically with the first conveying frame, and multiple conveying rollers are rotatably installed on the first conveying frame and the second conveying frame;

[0025] The second conveyor frame is also provided with a support seat, and the support seat is provided with a third power element for pushing the material frame from the second conveyor frame to the first conveyor frame. The execution end of the third power element is provided with a push plate, and a slide rail is provided on the second conveyor frame at a position corresponding to the push plate.

[0026] After adopting the above technical solution, the effects of the embodiment of the present invention are:

[0027] Since the braised cooking raw material loading device includes a braised cooking production line, a material frame transfer robot is provided on one side of the braised cooking production line, and a material frame clamping mechanism is provided on the material frame transfer robot; a material frame conveying mechanism is provided upstream of the material frame transfer robot, so that during operation, the material frame containing the raw materials is continuously conveyed by the material frame conveying mechanism, and then the conveyed material frame is grabbed by the material frame clamping mechanism, and then the material frame is driven by the material frame transfer robot to move toward the braised cooking production line and the raw materials in the material frame are put into the braised cooking tank.

[0028] To sum up, the use of the braising raw material feeding device realizes the mechanized automatic feeding of raw materials, which not only reduces the labor intensity, labor volume and labor cost of workers, but also effectively ensures the rhythm and progress of production continuity; at the same time, the production stability is good and the work efficiency is high; in addition, it helps to improve the working environment and avoids the problem of sweat falling into the raw material frame and affecting the sanitary quality of the product.

[0029] The material frame clamping mechanism includes a connecting plate connected to the material frame transfer robot, one side of the connecting plate is hinged with a first power element, and the other side of the connecting plate is respectively provided with a fixed clamping plate and a movable clamping plate, the fixed clamping plate is fixedly installed on the connecting plate, and the movable clamping plate is hinged on the connecting plate and hinged with the first power element; a clamping structure and an end limiting structure are provided on the movable clamping plate; a material frame upper edge limiting structure is provided on the connecting plate, so that when in use, it is connected with the material frame transfer robot through the connecting plate, and then the first power element drives the movable clamping plate to swing, so that the distance between it and the fixed clamping plate becomes larger, and when the material frame is between the fixed clamping plate and the movable clamping plate, the movable clamping plate is hinged on the connecting plate and hinged with the first power element. After the movable splint is between the fixed and movable splints, the first power element drives the movable splint to return to its original position, and the clamping structure is clamped and matched with the reinforcing rib or upper edge on the material frame. During the process of the movable splint returning to its original position, the end limit structure will apply thrust to the material frame and move it toward the connecting plate, and at the same time, it can block the material frame to prevent the material frame from escaping from between the fixed splint and the movable splint, and the upper edge of the material frame is blocked by the upper edge limit structure of the material frame; after that, the material frame transfer robot drives the braised raw material feeding device holding the material frame to lift up and move toward the braised trough. After reaching the braised trough, the material frame is turned over and the raw materials in the material frame are put into the braised trough. The structure is simple, the positioning effect of the material frame is good, and the grasping stability and reliability are high.

[0030] Since the clamping structure includes at least two clamping blocks arranged on the movable splint, and a clamping slot is provided on the clamping block, the clamping slot can be used to clamp and cooperate with the convex rib or reinforcing rib or the upper edge of the material frame, the structure is simple, the clamping is fast and convenient, and the clamping reliability is high; since the end limiting structure includes a stopper arranged at the end of the movable splint, the stopper is used to apply a thrust to the material frame and block the material frame, the structure is simple, the blocking effect on the material frame is good, and the processing and manufacturing are convenient; since the upper edge limiting structure of the material frame includes at least two L-shaped limit blocks arranged on the connecting plate, the limit block is bent in the direction of the clamping block, and the lower surface of the limit block is higher than the clamping slot, so that the L-shaped limit block is used to block the material frame when it is flipped, the structure is simple, and the blocking effect on the upper edge of the material frame is good.

[0031] Since the corners of the stopper are provided with inclined guide parts, when the thrust is applied to the material frame, the inclined guide parts are used to guide the material frame in a transitional manner, which not only avoids the corners of the stopper being set as sharp points, causing jamming or damage to the material frame when contacting the material frame; since the connecting plate is provided with a connecting column, and the connecting column is provided with a first connecting flange, the connecting flange facilitates the assembly connection of the braised raw material feeding device with a manipulator or a robot; the flange and the first power element are staggered by the connecting column, avoiding interference between the manipulator or robot connected to the connecting flange and the first power element during work; since the fixed splint and the movable splint are both provided with a plurality of weight-reducing holes, the weight of the fixed splint and the movable splint is greatly reduced through the weight-reducing holes, and the overall weight of the braised raw material feeding device is greatly reduced, thereby effectively reducing the workload of the material frame transfer robot; since the non-working sides of the fixed splint and the movable splint are provided with a plurality of reinforcing ribs, the overall structural strength of the fixed splint and the movable splint is greatly improved through the reinforcing ribs, which helps to improve the service life.

[0032] The material frame clamping mechanism includes a connecting frame connected to the material frame transfer robot, a clamping plate driven by a second power element is slidably installed on the connecting frame, at least two clamping plates are provided, and two clamping plates are arranged opposite to each other, and at least two positioning pins are provided on the two clamping plates arranged opposite to each other and on the side where the two clamping plates are close to each other; each clamping plate is provided with an elastic pushing mechanism, so that when in use, the connecting frame is connected to the material frame transfer robot, when the material frame is located between the two clamping plates, the second power element drives the clamping plate to clamp the two sides of the material frame, and the positioning pins are inserted into the positioning holes on the material frame (to avoid sliding in subsequent actions), and then the material frame transfer robot drives the clamped material frame to move toward the stewing tank, and after reaching the stewing tank, the material frame transfer robot drives the material frame to rotate and put the raw materials in the material frame into the stewing tank. The structure is simple, the positioning effect of the material frame is good, the grasping stability and reliability are high, and when the material frame is released, the material frame is smoothly pushed out from the positioning pins through the elastic pushing mechanism, so as to avoid the problem that the material frame and the positioning pins are stuck together and cannot be effectively separated.

[0033] The elastic pushing mechanism includes a push plate arranged corresponding to the positioning pin, and a through hole is provided on the push plate; at least two guide connecting columns are provided on the push plate, and the other end of the guide connecting column passes through the clamping plate, and a limit nut is threadedly installed on the guide connecting column passing through the clamping plate; a spring is mounted on the guide connecting column between the clamping plate and the push plate, so that when the material frame is released, the second power element drives the clamping plate to slide and causes the positioning pin to disengage from the positioning hole. The tension generated by the spring acts on the push plate, and then the push plate applies a thrust to the material frame, so that the positioning pin can be reliably separated from the positioning hole on the material frame. The structure is simple and the separation effect is good.

[0034] Since the working end of the locating pin is set as a pointed end, it is convenient for the locating pin to pass through the through hole and cooperate with the locating hole on the material frame; since the push plate is set to be L-shaped and the end of the push plate protrudes, the L-shaped push plate is bent toward the clamping plate, so that the L-shaped push plate not only improves the structural strength of the push plate itself, but also prevents the push plate from being displaced too much during the buffering process through its cooperation with the end of the push plate; since at least two guide slide rods are provided on the connecting frame, the clamping plate is slidably installed on the guided slide rod, so that the sliding of the clamping plate is realized through the guide slide rod, the structure is simple, and the sliding is convenient and reliable.

[0035] Since the connecting frame includes a frame body, a second connecting flange is provided on one side of the frame body, and a mounting groove is provided on the other side of the frame body, and the guide slide rod is arranged in the mounting groove, so as to be connected with other mechanisms through the connecting flange. The groove not only facilitates the arrangement of the guide slide rod and the clamp on the frame body, but also realizes the lightweight of the material frame clamp.

[0036] Since the material frame conveying mechanism includes at least one first conveying frame for conveying the material frame, the first conveying frame is located on one side of the braising production line and is arranged upstream of the material frame transfer robot; it also includes a second conveying frame arranged upstream of the first conveying frame and perpendicular to the first conveying frame, and multiple conveying rollers are rotatably installed on the first conveying frame and the second conveying frame; the second conveying frame is also provided with a support seat, and the support seat is provided with a third power element for pushing the material frame from the second conveying frame to the first conveying frame, the execution end of the third power element is provided with a pushing plate, and the second conveying frame at a position corresponding to the pushing plate is provided with a slide rail, so that when the material frame loaded with raw materials is conveyed, it is conveyed by the conveying roller on the second conveying frame, and then the pushing plate is driven by the third power element to move and push the material frame to the conveying roller on the first conveying frame, and then it is conveyed in the direction of the material frame transfer robot, the structure is simple, the conveying effect is good, and the conveying continuity is strong.

[0037] The invention also provides a method for feeding raw materials for braising, so as to achieve the purpose of improving work efficiency.

[0038] In order to solve the above technical problems, the technical solution of the present invention is: a method for feeding raw materials for stewing, wherein the feeding method uses the above-mentioned feeding device for feeding raw materials for stewing, and comprises the following steps:

[0039] S1, loading the thawed and cooled raw materials into the material frame, and conveying them toward the first conveyor frame through the conveying rollers on the second conveyor frame;

[0040] S2, pushing the material frame onto the first conveying rack through the push plate driven by the third power element, and conveying it toward the material frame transfer robot through the conveying roller;

[0041] S3. The material frame transfer robot drives the material frame gripping mechanism to approach the material frame and grab it. According to the different structures of the material frame, one of the following two grabbing methods is selected:

[0042] 1) When there is a convex rib or reinforcing rib structure on the material frame being transported, the first power element drives the movable clamping plate to rotate and makes the clamping structure fit with the convex rib or reinforcing rib or upper edge of the material frame. In the above process, the end limit structure applies thrust to the material frame and moves toward the connecting plate. At the same time, the upper edge limit structure of the material frame blocks the upper edge of the material frame;

[0043] 2) When there is a positioning hole on the conveyed material frame, the second power element drives the clamping plate to clamp the two sides of the material frame. During the above clamping process, the tension of the elastic pushing mechanism is overcome and the positioning pin is inserted into the positioning hole;

[0044] S4. The material frame transfer robot drives the material frame clamping mechanism that grabs the material frame to move toward the braising production line. After reaching the braising tank on the braising production line, the material frame transfer robot drives the material frame clamping mechanism to flip over and pour the raw materials in the material frame into the braising tank.

[0045] S5, release the empty material frame. There are two release methods corresponding to the two grabbing methods in S3:

[0046] 1) The first power element drives the movable clamping plate to rotate in the opposite direction, so that the distance between the movable clamping plate and the fixed clamping plate becomes larger, thereby completing the release of the material frame;

[0047] 2) The second power element drives the clamping plate to move in the opposite direction, and the elastic pushing mechanism generates tension and acts on the material frame, so that the positioning pin is disengaged from the positioning hole, thereby completing the release of the material frame;

[0048] S6. During the continuous conveying work, the material frame transfer robot drives the material frame clamping mechanism to return to its position and repeats the above steps in a cycle.

[0049] After adopting the above technical solution, the effects of the embodiment of the present invention are:

[0050] The mechanized automatic loading of raw materials has been realized, which not only reduces the labor intensity, labor volume and labor cost of workers, but also effectively ensures the rhythm and progress of production continuity, good production stability and high work efficiency; at the same time, it can also meet the grabbing of material frames with different structures; in addition, it helps to improve the working environment and avoid the problem of sweat falling into the raw material frame and affecting the sanitary quality of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0052] Figure 1is a schematic structural diagram of an embodiment of the present invention;

[0053] Figure 2 It is a structural schematic diagram of a first embodiment of a material frame clamping mechanism;

[0054] Figure 3 yes Figure 2 A top view of

[0055] Figure 4 It is a structural schematic diagram of a second embodiment of a material frame clamping mechanism;

[0056] Figure 5 yes Figure 4 A top view of

[0057] Figure 6 It is a structural schematic diagram of the cooperation between the third power element and the push plate on the material frame conveying mechanism;

[0058] Among them, 1- stewing production line; 2- material frame transfer robot; 3- material frame clamping mechanism; 300- weight reduction hole; 301- connection plate; 302- first power element; 303- fixed clamping plate; 304- movable clamping plate; 305- clamping block; 306- clamping groove; 307- stopper; 308- guide part; 309- limit block; 310- connection column; 311- first connection flange; 312- reinforcing rib plate; 313- connection frame; 314- second power element; 315- clamping plate; 316- 16-positioning pin; 317-frame; 318-installation slot; 319-guide slide rod; 320-second connecting flange; 4-material frame conveying mechanism; 401-first conveying frame; 402-second conveying frame; 403-conveying roller; 404-support seat; 405-third power element; 406-push plate; 407-slide rail; 5-material frame; 6-elastic pushing mechanism; 601-push plate; 602-through hole; 603-guide connecting column; 604-spring; 605-limiting nut. DETAILED DESCRIPTION

[0059] The present invention is further described in detail below through specific examples.

[0060] like Figure 1 As shown, a device for loading raw materials for stewing is provided, including a stewing production line 1. A material frame transfer robot 2 is provided on one side of the stewing production line 1, and a material frame clamping mechanism 3 for grabbing a material frame 5 is provided on the material frame transfer robot 2; a material frame conveying mechanism 4 is provided upstream of the material frame transfer robot 2. In this solution, the stewing production line 1 is provided with two sets, which are distributed on both sides of the material frame conveying mechanism 4 and the material frame transfer robot 2.

[0061] like Figure 2 and Figure 3As shown together, the material frame clamping mechanism 3 includes a connecting plate 301 connected to the material frame transfer robot 2, and a first power element 302 is hinged on one side of the connecting plate 301, and a fixed clamp plate 303 and a movable clamp plate 304 are respectively provided on the other side of the connecting plate 301, the fixed clamp plate 303 is fixedly installed on the connecting plate 301, and the movable clamp plate 304 is hinged on the connecting plate 301 and hinged with the first power element 302; a clamping structure and an end limiting structure are provided on the movable clamp plate 304; and a material frame upper edge limiting structure is provided on the connecting plate 301.

[0062] The clamping structure includes at least two clamping blocks 305 arranged on the movable splint 304, and a clamping slot 306 is provided on the clamping block 305; the end limiting structure includes a stopper 307 arranged at the end of the movable splint 304, and preferably, an inclined guide portion 308 is provided at the corner of the stopper 307; the upper edge limiting structure of the material frame includes at least two L-shaped limit blocks 309 arranged on the connecting plate 301, and the limit block 309 is bent toward the clamping block 305, and the lower surface of the limit block 309 is higher than the clamping slot 306.

[0063] The connecting plate 301 is provided with a connecting column 310, and the connecting column 310 is provided with a first connecting flange 311; the fixed clamping plate 303 and the movable clamping plate 304 are both provided with a plurality of weight-reducing holes 300; the non-working sides of the fixed clamping plate 303 and the movable clamping plate 304 are provided with a plurality of reinforcing ribs 312.

[0064] like Figure 4 and Figure 5 As shown together, the material frame clamping mechanism 3 includes a connecting frame 313 connected to the material frame transfer robot 2, and a clamping plate 315 driven by a second power element 314 is slidably installed on the connecting frame 313. The clamping plates 315 are provided with at least two and are arranged opposite to each other. At least two positioning pins 316 are provided on the two oppositely arranged clamping plates 315 and on the side where the two clamping plates 315 are close to each other. Preferably, the working end of the positioning pin 316 is set as a pointed end; each clamping plate 315 is provided with an elastic pushing mechanism 6.

[0065] The elastic pushing mechanism 6 includes a push plate 601 arranged corresponding to the positioning pin 316, and a through hole 602 is provided on the push plate 601; at least two guide connecting columns 603 are provided on the push plate 601, and the other end of the guide connecting column 603 passes through the clamping plate 315, and a limiting nut 605 is threadedly installed on the guide connecting column 603 passing through the clamping plate 315; a spring 604 is mounted on the guide connecting column 603 located between the clamping plate 315 and the push plate 601.

[0066] In the present embodiment, the push plate 601 is configured to be L-shaped and the end of the push plate 601 protrudes, and the L-shaped push plate 601 is bent toward the direction of the clamping plate 315; the connecting frame 313 includes a frame body 317, one side of the frame body 317 is provided with a second connecting flange 320, and the other side of the frame body 317 is provided with a mounting groove 318, and at least two guide slide rods 319 are provided on the frame body 317 located in the mounting groove 318, and the clamping plate 315 is slidably installed on the guide slide rod 319.

[0067] like Figure 1 and Figure 6 As shown together, the material frame conveying mechanism 4 includes at least one first conveying frame 401 for conveying the material frame 5, the first conveying frame 4 is located on one side of the stewing production line 1 and is arranged upstream of the material frame transfer robot 2. In the present embodiment, the first conveying frame 4 is provided with two and is located between the two stewing production lines 1; it also includes a second conveying frame 402 arranged upstream of the first conveying frame 401 and vertically arranged with the first conveying frame 401, the first conveying frame 401 and the second conveying frame 402 are connected and arranged, and multiple conveying rollers 403 are rotatably installed on them; the second conveying frame 402 is also provided with a support seat 404, and the support seat 404 is provided with a third power element 405 for pushing the material frame 5 from the second conveying frame 402 to the first conveying frame 401, the execution end of the third power element 405 is provided with a push plate 406, and the second conveying frame 402 corresponding to the push plate 406 is provided with a slide rail 407; in the present embodiment, the first power element 302 to the third power element 405 are all cylinders or oil cylinders.

[0068] The present invention also provides a method for feeding raw materials for stewing, which uses the above-mentioned feeding device for feeding raw materials for stewing, and comprises the following steps:

[0069] S1, loading the thawed and cooled raw materials into the material frame 5, and conveying them toward the first conveyor frame 401 through the conveying rollers 403 on the second conveyor frame 402;

[0070] S2, the material frame 5 is pushed onto the first conveying frame 401 by the material pusher plate 406 driven by the third power element 405, and is conveyed toward the material frame transfer robot 2 by the conveying roller 403;

[0071] S3, the material frame transfer robot 2 drives the material frame gripping mechanism 3 to approach the material frame 2 and grab it. According to the different structures of the material frame 5, one of the following two grabbing methods is selected:

[0072] 1) When there is a convex rib or reinforcing rib structure on the conveyed material frame 5, the first power element 302 drives the movable clamping plate 304 to rotate, and the clamping structure is clamped with the convex rib or reinforcing rib or upper edge on the material frame 5. In the above process, the end limit structure applies a thrust to the material frame 5 and moves toward the connecting plate 301. At the same time, the upper edge of the material frame 5 is blocked by the upper edge limit structure of the material frame; 2) When there is a positioning hole on the conveyed material frame 5, the second power element 314 drives the clamping plate 315 to clamp the two sides of the material frame 5. In the above clamping process, the tension of the elastic pushing mechanism 6 is overcome, and the positioning pin 316 is inserted into the positioning hole;

[0073] S4. The material frame transfer robot 2 drives the material frame clamping mechanism 3 holding the material frame 5 to move toward the braising production line 1. After reaching the braising tank on the braising production line 1, the material frame transfer robot 2 drives the material frame clamping mechanism 3 to flip over and pour the raw materials in the material frame 5 into the braising tank.

[0074] S5, releasing the empty material frame, corresponding to the two grabbing methods in S3, there are two releasing methods:

[0075] 1) The first power element 302 drives the movable clamping plate 304 to rotate in the opposite direction, so that the distance between the movable clamping plate 304 and the fixed clamping plate 303 becomes larger. At this time, the clamping structure is separated from the convex ribs or reinforcing ribs or upper edges on the material frame 5, thereby completing the release of the material frame 5; 2) The second power element 314 drives the clamping plate 315 to move in the opposite direction, and the elastic pushing mechanism 6 generates tension and acts on the material frame 5, so that the positioning pin 316 is separated from the positioning hole, thereby completing the release of the material frame 5;

[0076] S6. During the continuous conveying operation, the material frame transfer robot 2 drives the material frame clamping mechanism 3 to return to its original position and repeats the above steps in a cycle.

[0077] The above-described embodiments are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Various modifications and alterations to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A device for feeding raw materials for stewing, comprising a stewing production line, characterized in that: A material frame transfer robot is provided at one side of the stewing production line, and a material frame clamping mechanism is provided on the material frame transfer robot; different material frame clamping mechanisms are selected according to different structures of the material frame, and a material frame conveying mechanism is provided upstream of the material frame transfer robot; one of the material frame clamping mechanisms includes a connecting plate connected to the material frame transfer robot, a first power element is hinged on one side of the connecting plate, and a fixed clamping plate and a movable clamping plate are respectively provided on the other side of the connecting plate, the fixed clamping plate is fixedly installed on the connecting plate, and the movable clamping plate is hinged on the connecting plate and hinged with the first power element; The movable splint is provided with a clamping structure and an end limiting structure; the connecting plate is provided with a material frame upper edge limiting structure; the clamping structure comprises at least two clamping blocks arranged on the movable splint, and the clamping blocks are provided with clamping slots; The end limiting structure includes a stopper provided at the end of the movable clamping plate; The upper edge limiting structure of the material frame includes at least two L-shaped limiting blocks arranged on the connecting plate, the limiting blocks are bent toward the clamping blocks, and the lower surfaces of the limiting blocks are arranged higher than the clamping slots.

2. The device for feeding raw materials for stewing as claimed in claim 1, characterized in that: The corners of the stopper are provided with inclined guide parts; The connecting plate is provided with a connecting column, and the connecting column is provided with a first connecting flange; The fixed splint and the movable splint are both provided with a plurality of weight-reducing holes; and the non-working sides of the fixed splint and the movable splint are provided with a plurality of reinforcing ribs.

3. The device for feeding raw materials for stewing as claimed in claim 1, characterized in that: Another material frame clamping mechanism includes a connecting frame connected to the material frame transfer robot, and a clamping plate driven by a second power element is slidably installed on the connecting frame. The clamping plates are provided with at least two and are arranged opposite to each other. At least two positioning pins are provided on the two oppositely arranged clamping plates and on the side where the two clamping plates are close to each other; each clamping plate is provided with an elastic pushing mechanism.

4. The device for feeding raw materials for stewing as claimed in claim 3, characterized in that: The elastic pushing mechanism comprises a pushing plate arranged corresponding to the positioning pin, and the pushing plate is provided with a through hole; At least two guide connecting columns are arranged on the push plate, and the other end of the guide connecting column passes through the clamping plate, and a limiting nut is threadedly installed on the guide connecting column passing through the clamping plate; a spring is mounted on the guide connecting column located between the clamping plate and the push plate.

5. The device for feeding raw materials for stewing as claimed in claim 4, characterized in that: The working end of the positioning pin is configured as a pointed end; The push plate is configured to be L-shaped and protrudes from the end of the push plate, and the L-shaped push plate is bent toward the clamping plate; The connecting frame is provided with at least two guide slide bars, and the clamping plate is slidably mounted on the guide slide bars.

6. The device for feeding raw materials for stewing as claimed in claim 5, characterized in that: The connecting frame comprises a frame body, a second connecting flange is arranged on one side of the frame body, a mounting groove is arranged on the other side of the frame body, and the guide slide bar is arranged in the mounting groove.

7. The device for feeding raw materials for stewing as claimed in claim 6, characterized in that: The material frame conveying mechanism includes at least one first conveying frame for conveying the material frame, the first conveying frame is located on one side of the stewing production line and is arranged upstream of the material frame transfer robot; and also includes a second conveying frame arranged upstream of the first conveying frame and arranged vertically with the first conveying frame, and multiple conveying rollers are rotatably installed on the first conveying frame and the second conveying frame; The second conveyor frame is also provided with a support seat, and the support seat is provided with a third power element for pushing the material frame from the second conveyor frame to the first conveyor frame. The execution end of the third power element is provided with a push plate, and a slide rail is provided on the second conveyor frame at a position corresponding to the push plate.

8. A method for feeding raw materials for stewing, characterized in that: The feeding method uses the braising raw material feeding device described in claim 7, which comprises the following steps: S1, loading the thawed and cooled raw materials into a material frame, and conveying them toward the first conveying frame through the conveying rollers on the second conveying frame; S2, pushing the material frame onto the first conveying rack through the material pushing plate driven by the third power element, and conveying it toward the material frame transfer robot through the conveying roller; S3, the material frame transfer robot drives the material frame gripping mechanism to approach the material frame and grab it, and selects one of the following two grabbing methods according to the structure of the material frame: 1) When there is a convex rib or reinforcing rib structure on the material frame being transported, the first power element drives the movable clamping plate to rotate and makes the clamping structure fit with the convex rib or reinforcing rib or upper edge of the material frame. In the above process, the end limiting structure applies a thrust to the material frame and moves it toward the connecting plate. At the same time, the upper edge of the material frame is blocked by the upper edge limiting structure of the material frame; 2) When there is a positioning hole on the material frame being transported, the second power element drives the clamping plate to clamp the two sides of the material frame. During the above clamping process, the tension of the elastic pushing mechanism is overcome and the positioning pin is inserted into the positioning hole; S4, the material frame transfer robot drives the material frame clamping mechanism holding the material frame to move toward the braising production line. After reaching the braising tank on the braising production line, the material frame transfer robot drives the material frame clamping mechanism to flip over and pour the raw materials in the material frame into the braising tank; S5, releasing the empty material frame, corresponding to the two grabbing methods in S3, there are two releasing methods: 1) The first power element drives the movable clamping plate to rotate in the opposite direction, so that the distance between the movable clamping plate and the fixed clamping plate becomes larger, thereby completing the release of the material frame; 2) The second power element drives the clamping plate to move in the opposite direction, and the elastic pushing mechanism generates tension and acts on the material frame, so that the positioning pin is disengaged from the positioning hole, thereby completing the release of the material frame; S6. During the continuous conveying operation, the material frame transfer robot drives the material frame clamping mechanism to return to its original position and repeats the above steps in a cycle.

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