Automatic loading device

Abstract

The present invention discloses an automatic tray loading device to solve the technical problems of low efficiency, high labor cost, and high working intensity caused by manual configuration and recycling of trays in the prior art. The present invention includes a tray lifting mechanism, a tray cloth laying mechanism, a tray placing mechanism, a conveying mechanism, and a tray stacking mechanism. The tray cloth laying mechanism includes a suction cup, a connecting rod, a rotating shaft, and a vertical plate. The suction cup is arranged at the bottom of the connecting rod. One end of the connecting rod and the rotating shaft are perpendicularly fixed, and the other end of the rotating shaft is rotatably connected to the vertical plate. A tray cloth storage box is arranged on one side of the tray cloth laying mechanism. The tray placing mechanism includes a tray picking bracket, and the tray stacking mechanism is arranged at the end of the conveying mechanism. The tray stacking mechanism includes a robotic arm and a tray truck, and a clamping unit is arranged at the end of the robotic arm. The beneficial effect of the present invention is that it realizes automatic tray cloth laying, automatic tray placing, and automatic tray truck placing, improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of food machinery, and particularly relates to an automatic tray loading device. Background Art

[0002] In the field of food production, trays are commonly used production utensils. During the food production and processing process, they are usually placed on trays for sequential processing, and trays are reused repeatedly in food production. The Chinese patent document with the publication number CN110451268A discloses a fully automatic tray placing machine, which can automatically place baking trays on the conveyor line and improve the automation degree of production.

[0003] However, the above-mentioned automatic tray placing machine can place baking trays on the conveyor line, but still cannot recycle baking trays and load them onto vehicles. Currently, the pre-placement of tray cloths and subsequent recycling of trays are all completed manually, resulting in high labor intensity and low efficiency. Summary of the Invention

[0004] The present invention provides an automatic tray loading device to solve the technical problems of low efficiency, high labor cost, and high working intensity caused by manual configuration and recycling of trays in the prior art.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] Design an automatic tray loading device, including a tray lifting mechanism, a tray cloth laying mechanism, a tray placing mechanism, a conveying mechanism, and a tray stacking mechanism. The tray cloth laying mechanism includes a suction cup, a connecting rod, a rotating shaft, and a vertical plate. The suction cup is arranged at the bottom of the connecting rod. One end of the connecting rod and the rotating shaft are vertically fixed, and the other end of the rotating shaft is rotatably connected to the vertical plate. A tray cloth storage box is arranged on one side of the tray cloth laying mechanism. The suction cup is used to suck the tray cloth in the tray cloth storage box and rotate with the connecting rod to the tray lifting mechanism; among them, the tray cloth can be disposable or reusable, can be single-sheet independent, or can realize automatic cutting of the tray cloth roll through a deformed part mechanism. The suction cup for taking the tray cloth can also adopt forms such as a needle-type suction cup according to the different materials of the tray cloth;

[0007] The tray placing mechanism includes a tray picking bracket, which is used to take the tray from the tray lifting mechanism and place it into the conveying mechanism. The tray stacking mechanism is arranged at the end of the conveying mechanism;

[0008] The tray stacking mechanism includes a robotic arm and a tray truck. A clamping unit is arranged at the end of the robotic arm, which is used to clamp the tray on the conveying mechanism. The robotic arm is used to drive the clamped tray into the tray truck.

[0009] Further, the tray lifting mechanism includes a lifting slideway, a tray support and a tray. The tray support is slidably connected to the lifting slideway, and the tray and the tray support are rotatably connected with a rotation angle of 0° to 90°, and a reset member is provided at the connection part thereof.

[0010] Further, there are 4 groups of the tray lifting mechanisms, with two groups provided on each side of the tray, and the two groups of the diagonal tray lifting mechanisms lift synchronously.

[0011] Further, the tray picking bracket includes a lifting plate and a shifting plate. The shifting plate is arranged below the lifting plate and can slide horizontally back and forth relative to the lifting plate. A support plate is arranged on the side of the shifting plate, and a clamping member for clamping the tray is arranged at the end of the support plate, and the clamping member is located above the lifting plate.

[0012] Further, the conveying mechanism includes a front conveyor belt, an auxiliary roller path and a rear conveyor belt. A tray turning lever is arranged on the front conveyor belt. The front conveyor belt is correspondingly connected to the tray placing mechanism, and the rear conveyor belt is docked with the front conveyor belt through the auxiliary roller path.

[0013] Further, a tray loading rack is arranged at the end of the conveying mechanism. The tray loading rack includes a bottom plate and side baffles. The side baffles surround the bottom plate on three sides, and the side without the side baffle is correspondingly connected to the conveying mechanism.

[0014] Further, a tray clamp and a clamp fixing plate are arranged at the end of the robotic arm, and the two are rotatably connected. A clamping cylinder is connected to the tray clamp for driving the tray clamp to move towards the clamp fixing plate.

[0015] Further, the tray truck includes multiple layers of tray receiving racks arranged in parallel, and each layer of the tray receiving rack is used for receiving the trays transferred by the robotic arm.

[0016] Further, the tray truck is fixed on a tray truck fixing rack. Clamping fixing claws and clamping driving claws are arranged on the tray truck fixing rack. The clamping fixing claws are installed on the tray truck fixing rack through spring pins, and the tray truck is fixed between the clamping fixing claws and the clamping driving claws.

[0017] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0018] The present invention utilizes a suction cup to suck the tray cloth. After turning, the suction cup spreads the tray cloth on the tray with it. The tray bracket for taking the tray removes the tray with the spread tray cloth from the tray stack and places it on the conveyor belt. When the tray is transferred to the end of the conveyor belt, the robotic arm grabs the tray and places it in the tray cart, realizing automatic spreading of the tray cloth on the tray, automatic placing of the tray, automatically collecting the finished tray and placing it in the tray cart, reducing the number of workers, improving production efficiency, and facilitating the automation of the factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the automatic tray loading device of the present invention.

[0020] Figure 2 It is a top view of the automatic tray loading device of the present invention.

[0021] Figure 3 It is a schematic structural diagram of the tray placing and tray cloth spreading mechanism of the automatic tray loading device of the present invention.

[0022] Figure 4 It is a schematic structural diagram of the tray stacking mechanism of the automatic tray loading device of the present invention.

[0023] Figure 5 It is a top view of the tray placing and tray cloth spreading mechanism of the automatic tray loading device of the present invention.

[0024] Figure 6 It is a schematic structural diagram of the tray bracket for taking the tray of the automatic tray loading device of the invention.

[0025] Figure 7 It is a schematic structural diagram of the tray lifting mechanism of the automatic tray loading device of the invention.

[0026] Figure 8 It is a schematic structural diagram of the robotic arm of the automatic tray loading device of the invention.

[0027] Figure 9 For the automatic tray loading device of the invention Figure 8 The enlarged view of part A in

[0028] Figure 10 It is a schematic structural diagram of the tray cart fixing mechanism of the automatic tray loading device of the invention.

[0029] Figure 11 It is a schematic diagram of the mechanism of the tray cart clamping and fixing claws of the automatic tray loading device of the invention.

[0030] In the figure, 1 is an automatic tray - placing and tray - cloth - laying machine, 2 is a food processing and forming machine, 3 is a robotic arm control box, 4 is a tray truck, 11 is a tray cloth, 12 is a suction rod, 13 is a stack of trays, 14 is a tray - taking bracket, with an upper clamping plate 141, a support plate 142, a lower clamping plate 143, a shifting plate 144, 15 is a lifting plate, 16 is a tray - turning stop rod, 17 is a single tray, 18 is an auxiliary roller path, 20 is a tray feeding truck, 21 is a food processing device, 22 is a conveyor, 23 is a tray with products, 24 is a tray loading rack, 32 is a robotic arm, 33 is a support, 34 is a tray - truck fixing frame, 51 is a first pallet, 52 is a second pallet, 53 is a third pallet, 54 is a fourth pallet, 511 is a pallet support in the rebounding state, 512 is an elastic pallet in the rebounding state, 541 is a pallet support in the lifting state, 542 is an elastic pallet in the lifting state, 61 is a pallet fixture fixing plate, 62 is a pallet fixture clamping plate, 64 is a clamping cylinder, 65 is a cylinder support, 71 is a clamping active jaw, 72 is a clamping fixed jaw, 73 is a spring pin. Detailed implementation manners

[0031] The following describes the detailed implementation manners of the present invention with reference to the drawings and embodiments. However, the following embodiments are only used to illustrate the present invention in detail and do not limit the scope of the present invention in any way.

[0032] For the unit modules, components, structures, mechanisms, sensors and other devices involved in the following embodiments, if not otherwise specified, they are all conventional commercially available products.

[0033] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present application. The "first", "second", etc. involved in the present application are used to distinguish similar objects and do not necessarily describe a specific order or sequence.

[0034] Embodiment 1: An automatic tray - loading device. Refer to Figure 1 and Figure 2 , which includes an automatic tray - placing and tray - cloth - laying machine 1, a food processing and forming machine 2, a robotic arm control box 3, and a tray truck 4. Among them, the bottom of the automatic tray - placing and tray - cloth - laying machine 1 and the robotic arm control box 3 are equipped with casters, which can facilitate movement and positioning, and improve the flexibility of the use of the entire set of equipment.

[0035] The structure of the automatic tray - placing and tray - cloth - laying machine 1 is shown in Figure 3, including a suction rod 12. A row of suction cups is connected to the bottom of the suction rod 12. The length of the suction cups is the same as that of the tray cloth. A rotating shaft is connected to the left end of the suction rod 12. The bottom end of the rotating shaft is rotatably connected to the vertical plate connected thereto. A tray cloth storage box is provided on one side of the automatic tray cloth laying machine 1, and the inside contains stacked tray cloths 11. After the suction rod 12 sucks the left edge of the tray cloth 11, it rotates counterclockwise, brings the tray cloth 11 into the stacked trays 13 on the left side, and then the suction rod 12 resets for the next laying of the tray cloth. The tray cloth 11 can be disposable or reusable, can be single and independent, or can be automatically slit from a tray cloth coil through a deformed part mechanism. The suction cups for picking up the tray cloth can also be in the form of needle-type suction cups according to the material of the tray cloth. The tray can be a steel tray or made of other materials.

[0036] On the left side of the stacked trays 13 is a tray picking bracket 14, which is used to separate the single tray 17 at the top of the stacked trays 13 and then transfer it to the tray conveyor belt on the left side. For the structure of the tray picking bracket 14, refer to Figure 6 , including a lifting plate 15 and a shifting plate 144. The shifting plate 144 is arranged below the lifting plate and can slide horizontally back and forth relative to the lifting plate 15. A support plate 142 is arranged on the side of the shifting plate 144, and a clamping member for clamping the tray is arranged at the end of the support plate 142. The clamping member includes an upper clamping plate 141 and a lower clamping plate 143. The clamping member is driven by a cylinder to tighten inward, and the gap between the clamping members is used to fix the edge of the tray. During operation, the lifting plate 15 is in the low position, and the tray picking bracket 14 is on the left side. First, the tray picking bracket 14 extends to the position of the stacked trays 13 to the right, then the cylinder drives the clamping member to tighten inward to pick up the tray. At this time, the lifting plate 15 is lifted upward to separate the picked tray, and then the shifting plate 144 slides to the right to move the tray above the lifting plate 15, and the clamping member is loosened, and the tray falls on the conveyor belt on the lifting plate 15 and is conveyed to the left.

[0037] A lifting mechanism is provided below the stacked trays 13. Refer to Figure 5 , and there are 4 groups of this lifting mechanism, namely tray one 51, tray two 52, tray three 53, and tray four 54, which are arranged on both sides of the tray, and the two diagonal groups of tray lifting mechanisms lift synchronously. For the lifting mechanism in the working state, refer to Figure 7, taking the two groups on the left as an example, the pallet support 541 in the lifting state moves upward along the slideway. The elastic pallet 542 in the lifting state forms a right angle with the corresponding pallet support, and the other elastic pallet at the diagonal lifts the pallet. When the elastic pallet returns to the bottom end, the elastic pallet 512 in the rebounding state is blocked by the pallet and turns upward to be in the same plane as the pallet support 511 in the rebounding state. After the pallet support 511 in the rebounding state falls to the bottom and gets out of the way of the steel plate, the elastic pallet 512 in the rebounding state automatically rebounds to form a right angle with the pallet support 511 in the rebounding state, and the next pallet is lifted. The two groups of pallets work alternately to achieve non-stop or seamless replenishment of the pallets.

[0038] In order to convey single pallets 17 in different directions, a pallet turning stop bar 16 is provided at the end of the lifting plate 15. When the horizontal single pallet 17 reaches the stop bar, the left end is temporarily blocked from advancing, and the right end turns 90 degrees to the front end, so that the horizontal single pallet 17 becomes vertically conveyed. The left side of the automatic pallet laying and pallet cloth laying machine 1 is a formed conveyor 22. If their heights are different, an auxiliary roller table 18 can be set between them to assist in pallet conveying.

[0039] During the process of the pallet on the conveyor 22, the formed food processing equipment 21 places the food to be palletized on the pallet, and the product-carrying pallet 23 continues to be conveyed to the pallet loading rack 24. The pallet loading rack 24 includes a bottom plate and side baffles. The side baffles surround the bottom plate on three sides, and the side without the side baffle is correspondingly connected to the conveying mechanism. An opening is provided on the left side of the pallet loading rack 24 for the robotic arm 32 to clamp the product-carrying pallet 23.

[0040] The robotic arm 32 is installed on the support 33 and its movement is controlled by the robotic arm 32 control box 3. Refer to Figure 4 , the robotic arm 32 clamps the product-carrying pallet 23 and sends it onto the pallet truck 4. The structure of the robotic arm 32 is referred to Figure 8 and Figure 9 , and a clamping unit is provided at its front end for clamping the pallet on the conveying mechanism. The clamping unit includes a pallet fixture fixing plate 61, a pallet fixture clamping plate 62, a clamping cylinder 64, and a cylinder support 65. The clamping cylinder 64 pushes the pallet fixture clamping plate 62 downward to clamp the edge of the pallet between the left vertical surface of the pallet fixture fixing plate 61 and the pallet fixture clamping plate 62.

[0041] The robotic arm 32 clamps the product-carrying pallet 23 and places it on the pallet truck. The pallet truck includes multiple layers of pallet receiving racks arranged in parallel, and each layer of the pallet receiving rack is used to receive the pallet transferred by the robotic arm. The pallet truck is fixed to the pallet truck fixing frame 34. Refer to Figure 10 and Figure 11, a clamping active jaw 71 and a clamping fixed jaw 72 are arranged on the pallet truck fixing frame 34. The clamping fixed jaw 72 is installed on the pallet truck fixing frame 34 through a spring pin 73. The pallet truck is fixed between the clamping active jaw 71 and the clamping fixed jaw 72. The clamping fixed jaw 72 can quickly move by pulling the spring pin 73 according to the size of the pallet truck and adjust to the preset pin hole to achieve quick adjustment. The clamping active jaw 71 of the pallet truck is driven by a cylinder to realize automatic clamping of the pallet truck.

[0042] The working process of the above-mentioned brake upper disc device is as follows: The stack of pallets 13 is sent to the pallet placing frame of the automatic pallet placing and pallet cloth laying machine 1 by the pallet feeding truck 20. There are two groups of pallet boards 51 and 53 and 52 and 54 on both sides of the automatic pallet cloth laying machine. Each pallet board is composed of an elastic pallet board in the lifted state by 541 and a pallet board support 542. The two sets of pallet boards in each group move up and down synchronously, lift the pallet to the top. Another group of pallet boards can lift another stack of pallets below it in a ready state and rise synchronously with the use of the upper stack of pallets. When the upper stack of pallets is used up, the lower stack of prepared pallets is timely replenished. The upper pallet board rebounds under the block of the pallet and moves downward to the bottom position to prepare for lifting the pallet next time. The pallet rises to the top and the suction rod 12 takes out the pallet cloth 11 and spreads it into the stack of pallets 13. The pallet taking bracket 14 extends and takes out the top pallet and places it on the conveyor belt of the lifting plate 15. The conveyor belt conveys the pallet forward. After passing through the pallet turning stop bar 16, the pallet turns and continues to move forward through the auxiliary roller path 18 and enters the loading conveyor 22. After passing through the formed food processing equipment 21, the pallet 23 with products is lifted by the 61 pallet fixture fixing plate and clamped by the 62 pallet fixture clamping plate driven by the 64 clamping cylinder installed on the 65 cylinder support and placed on the pallet truck 4. One end of the pallet truck 4 is fixed by the lower pallet truck clamping fixed jaw 72, and the other end is clamped and fixed by the pallet truck clamping active jaw 71, thereby realizing automatic pallet cloth laying and automatic pallet loading onto the pallet truck.

[0043] The above has described the present invention in detail with reference to the drawings and embodiments. However, those skilled in the art can understand that without departing from the gist of the present invention, various specific parameters in the above embodiments can be changed to form multiple specific embodiments, which are all within the common variation range of the present invention and will not be elaborated one by one here.

Claims

1. An automatic loading device, characterized in that, It includes a pallet lifting mechanism, a pallet cloth laying mechanism, a tray placing mechanism, a conveying mechanism, and a pallet stacking mechanism. The pallet cloth laying mechanism includes a suction cup, a connecting rod, a rotating shaft, and a vertical plate. The suction cup is arranged at the bottom of the connecting rod. One end of the connecting rod and the rotating shaft are vertically fixed, and the other end of the rotating shaft is rotatably connected to the vertical plate. A pallet cloth storage box is arranged on one side of the pallet cloth laying mechanism. The suction cup is used to suck the pallet cloth in the pallet cloth storage box and rotate with the connecting rod to the pallet lifting mechanism; The tray placing mechanism includes a tray picking bracket for removing the tray from the pallet lifting mechanism and placing it into the conveying mechanism. The pallet stacking mechanism is arranged at the end of the conveying mechanism; The pallet stacking mechanism includes a robotic arm and a pallet truck. A clamping unit is arranged at the end of the robotic arm for clamping the tray on the conveying mechanism. The robotic arm is used to drive the clamped tray into the pallet truck; The pallet lifting mechanism includes a lifting slideway, a pallet support, and a pallet. The pallet support is slidably connected to the lifting slideway. The pallet and the pallet support are rotatably connected with a rotation angle of 0° to 90°. A reset member is arranged at the connecting part. There are 4 groups of the pallet lifting mechanisms, with two groups arranged on each side of the pallet, and the two diagonal groups of the pallet lifting mechanisms are lifted and lowered synchronously; The tray picking bracket includes a lifting plate and a shifting plate. The shifting plate is arranged below the lifting plate and can slide horizontally relative to the lifting plate. A support plate is arranged on the side of the shifting plate, and a clamping member for clamping the tray is arranged at the end of the support plate. The clamping member is located above the lifting plate.

2. The automatic loading device according to claim 1, characterized in that, The conveying mechanism includes a front conveyor belt, an auxiliary roller path, and a rear conveyor belt. A tray turning lever is arranged on the front conveyor belt. The front conveyor belt is correspondingly connected to the tray placing mechanism, and the rear conveyor belt is docked with the front conveyor belt through the auxiliary roller path.

3. The automatic disk loading device according to claim 1, wherein, A tray loading rack is arranged at the end of the conveying mechanism. The tray loading rack includes a bottom plate and side baffles. The side baffles surround the bottom plate on three sides, and the side without the side baffle is correspondingly connected to the conveying mechanism.

4. The automatic loading device according to claim 1, wherein A tray clamp and a clamp fixing plate are arranged at the end of the robotic arm and are rotatably connected. A clamping cylinder is connected to the tray clamp for driving the tray clamp to move towards the clamp fixing plate.

5. The automatic loading device according to claim 1, wherein The pallet truck includes multiple layers of tray receiving racks arranged in parallel, and each layer of the tray receiving rack is used to receive the tray transferred by the robotic arm.

6. The automatic platter loading device according to claim 1, characterized in that, The pallet truck is fixed on a pallet truck fixing frame. A clamping fixed claw and a clamping driving claw are arranged on the pallet truck fixing frame. The clamping fixed claw is installed on the pallet truck fixing frame through a spring pin, and the pallet truck is fixed between the clamping fixed claw and the clamping driving claw.

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