Material transfer device, material transfer control method and food processing equipment

Abstract

The present application provides a material transfer device, a material transfer control method, and food processing equipment. The material transfer device includes: a frame; a driving mechanism mounted on the frame; a material picking mechanism, the material picking mechanism being rotatably connected to one side of the driving mechanism; and a controller. The controller controls the movement of the driving mechanism based on the position information of the material to be transferred and drives the material picking mechanism to move to a predetermined position, and then controls the material picking mechanism to deflect relative to the driving mechanism so that the material picking mechanism can tilt and pick up the material to be transferred. The material transfer device and material transfer control method provided in the present application achieve tilted material picking, improve material picking accuracy, and thereby improve material transfer efficiency.

Description

Technical Field

[0001] The present application relates to the field of industrial automation technology, and in particular to a material transfer device, a material transfer control method, and food processing equipment. Background Art

[0002] At present, in order to realize the automated operation of materials, materials are generally placed horizontally at intervals to facilitate grasping by robots, etc. However, parallel placement takes up a large storage space. There are some special materials, such as meat patties, which need to be soaked in soup. When placed horizontally in the soup, the robot is easily disturbed by the soup, making it difficult to accurately grasp the materials, affecting the material transfer efficiency and grasping accuracy. Summary of the Invention

[0003] In view of this, the present application provides a material transfer device, a material transfer control method and food processing equipment, which can realize inclined material collection, improve material collection accuracy, and thereby improve material transfer efficiency.

[0004] In a first aspect, the present application provides a material transfer device, comprising:

[0005] frame;

[0006] a driving mechanism mounted on the frame;

[0007] a material taking mechanism, the material taking mechanism being rotatably connected to one side of the driving mechanism; and

[0008] A controller controls the movement of the driving mechanism according to the position information of the material to be transferred and drives the picking mechanism to move to a predetermined position, and then controls the picking mechanism to deflect relative to the driving mechanism so that the picking mechanism can tilt and pick up the material to be transferred.

[0009] In a possible design, the material transfer device further includes a rotating seat, which is rotatably connected to one end of the driving mechanism; and the material picking mechanism is installed on the rotating seat.

[0010] In a possible design, the rotating seat includes a rotating plate and a mounting bracket, one end of the rotating plate is rotatably connected to the driving mechanism, the other end of the rotating plate is vertically connected to the mounting bracket, and the material picking mechanism is installed on the mounting bracket.

[0011] In a possible design, the material picking mechanism includes a driver, one end of the driver is fixedly connected to the driving mechanism, and the other end is connected to the rotating seat, and the driver drives the rotating seat to deflect relative to the driving mechanism.

[0012] In a possible design, the driver is a telescopic cylinder, a fisheye joint is provided at the end of the telescopic rod of the telescopic cylinder, a fixed shaft is provided on the side of the rotating seat away from the material picking mechanism, and the fixed shaft is connected to the fisheye joint.

[0013] In a possible design, the driving mechanism includes a first driving motor and a moving base, and the first driving motor drives the moving base to move along the X-axis direction;

[0014] The material transfer device also includes a rotating mechanism, which includes a second drive motor and a rotating arm. The two ends of the rotating arm are respectively connected to the moving seat and the material picking mechanism. The second drive motor drives the rotating arm to rotate horizontally.

[0015] In one possible design, the material transfer device further includes:

[0016] A material storage box and a material tray accommodated in the material storage box; a storage rack is provided in the material tray, and the materials to be transferred are arranged at inclined intervals in the storage rack.

[0017] In a possible design, the material transfer device also includes: a pallet pulling-out mechanism installed on the frame, the pallet pulling-out mechanism includes a first moving component, a second moving component and a clamping claw component, the clamping component is installed on the second moving component, and the second moving component is slidingly connected to the first moving component; the first moving component drives the clamping component to move along the X-axis direction, and the second moving component drives the clamping component to move along the Z-axis direction until the clamping component clamps a corresponding material pallet.

[0018] In one possible design, the material transfer device further includes:

[0019] At least one detector connected to the controller, wherein the detector is used to detect position information of the material to be transferred.

[0020] In a second aspect, the present application provides a material transfer control method, which is applied to the material transfer device described in the first aspect. The control method includes:

[0021] Obtain location information of materials to be transferred;

[0022] Control the driving mechanism to move according to the position information, and drive the material taking mechanism to move to a predetermined position;

[0023] The material picking mechanism is controlled to deflect relative to the driving mechanism, and the material picking mechanism is controlled to tilt and pick up the material to be transferred.

[0024] In a possible design, before controlling the material-retrieving mechanism to deflect relative to the driving mechanism and controlling the material-retrieving mechanism to tilt and pick up the material to be transferred, the method further includes:

[0025] According to the position information of the material to be transferred, the tray pulling mechanism is controlled to pull out a corresponding material tray in the storage box, so that the material to be transferred is located outside the storage box.

[0026] In a possible design, controlling the movement of the driving mechanism according to the position information to drive the material taking mechanism to move to a predetermined position includes:

[0027] According to the position information of the material to be transferred, the driving mechanism is controlled to move along the X-axis direction, driving the material taking mechanism to move to the predetermined height position;

[0028] The driving mechanism is controlled to move in the horizontal direction, driving the material taking mechanism to move to a predetermined horizontal position.

[0029] In a possible design, controlling the material taking mechanism to deflect relative to the driving mechanism and controlling the material taking mechanism to tilt and pick up the material to be transferred includes:

[0030] The driver is controlled to drive the material taking mechanism to tilt relative to the driving mechanism to a preset angle, so that the material to be transferred installed on the material taking mechanism abuts against the material placed obliquely in the material tray;

[0031] Control the material picking mechanism to pick up the material to be transferred.

[0032] In one possible design, the position information of the material to be transferred includes X-axis position information, Y-axis position information, and Z-axis position information. The method of controlling the tray pulling mechanism to pull out a corresponding material tray in the storage box according to the position information of the material to be transferred includes:

[0033] Controlling the movement of the first moving assembly according to the X-axis position information, controlling the movement of the second moving assembly according to the Z-axis position information, driving the gripper assembly to move to a predetermined position, and controlling a corresponding gripper assembly to grip a corresponding material tray according to the Y-axis position information;

[0034] The second moving assembly is controlled to move, driving the clamping claw assembly and the material tray to move away from the material storage box, so that the material to be transferred contained in the material tray is dragged out of the material storage box.

[0035] In a third aspect, the present application provides a food processing device comprising the material transfer device described in the first aspect above.

[0036] The material transfer device provided in the present application is provided with a material picking mechanism on the frame, and is also provided with a driving mechanism rotatably connected to the material picking mechanism. The driving mechanism drives the material picking mechanism to move to a predetermined position, and then the material picking mechanism is deflected relative to the driving mechanism. The material picking mechanism can pick up materials at an angle, and can achieve inclined material picking, thereby improving material transfer efficiency and helping to increase production capacity.

[0037] Other features and advantages of the embodiments of the present application will be described in the subsequent description, and in part will become apparent from the description, or be understood by practicing the embodiments of the present application. The purposes and other advantages of the embodiments of the present application are achieved and obtained by the structures particularly pointed out in the description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0039] Figure 1 A schematic structural diagram of a material transfer device provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of a portion of the structure of a material transfer device provided in an embodiment of the present application;

[0041] Figure 3 A schematic diagram from another angle showing a portion of the structure of the material transfer device provided in an embodiment of the present application;

[0042] Figure 4 A schematic structural diagram of a material tray in a material transfer device provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram from another angle showing a portion of the structure of the material transfer device provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of the connection structure between the rotating mechanism and the driving mechanism in the material transfer device provided in an embodiment of the present application;

[0045] Figure 7 This is a structural schematic diagram of the material taking mechanism in the material transfer device provided in an embodiment of the present application.

[0046] Reference numerals:

[0047] 10- rack;

[0048] 20-driving mechanism; 21-linear motion module; 22-first driving motor; 23-moving seat; 24-bottom plate; 25-connecting plate; 251-reinforcement plate;

[0049] 30-rotating mechanism; 31-rotating arm; 32-second driving motor; 33-second positioning sensor;

[0050] 40 - material-retrieving mechanism; 41 - rotating seat; 411 - rotating plate; 412 - mounting bracket; 413 - fixed shaft; 42 - material-retrieving assembly; 43 - driver; 431 - fisheye joint; 2 - suction cup; 3 - pressing member; 4 - movable member; 5 - second detector;

[0051] 50-storage box; 51-box body, 52-material tray; 53-shelf, 531-shelf body; 532-vertical baffle; 533-inclined baffle;

[0052] 60-rotating platform;

[0053] 70-first detector;

[0054] 80 - tray pulling mechanism; 81 - first moving assembly; 82 - second moving assembly; 83 - clamping assembly.

[0055] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0056] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0057] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0058] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0059] like Figures 1 to 7As shown, a schematic diagram of the material transfer device and food processing equipment of an embodiment of the present application is given. It should be noted that the material transfer device can be applied to the automatic supply of food materials in common Chinese fast food or Western fast food, for example, meat patties and sunny-side-up eggs in hamburgers. The characteristics of these materials are that due to different production batches, there are differences in the time of expiration and deterioration, and the time of taste change. Therefore, the purpose of the material transfer device is to automatically output and supply the food materials produced first, and delay the output and supply of the food materials produced later. It should be noted that the material transfer device can be applied to various materials whose quality is affected by time factors, and the specific type of material is not limited in this application.

[0060] This application provides a material transfer device, such as Figure 1 and Figure 2 As shown, the material transfer device includes a frame 10, a driving mechanism 20, a material taking mechanism 40 and a controller (not shown);

[0061] The driving mechanism 20 is installed on the frame 10, and the material picking mechanism 40 is rotatably connected to one side of the driving mechanism 20; the controller controls the movement of the driving mechanism 20 according to the position information of the material to be transferred and drives the material picking mechanism 40 to move to a predetermined position, and then controls the material picking mechanism 40 to deflect relative to the driving mechanism 20, so that the material picking mechanism 40 can tilt to pick up the material to be transferred.

[0062] In the above scheme, a material picking mechanism is provided on the frame, and a driving mechanism rotatably connected to the material picking mechanism is also provided. The driving mechanism drives the material picking mechanism to move to a predetermined position, and then the material picking mechanism is controlled to deflect relative to the driving mechanism, so that the material picking mechanism can be tilted to pick up the material. This can realize the rapid positioning of the material picked up by the material picking mechanism, improve the accuracy of the material picking, and then improve the material transfer efficiency, which helps to improve production capacity.

[0063] like Figure 1 As shown, the frame 10 is the structural framework of the device and can be considered the basic carrier for mounting and fixing other components and parts, such as the drive mechanism 20, the rotating mechanism 30, and the controller. The frame 10 primarily comprises a metal frame made of aluminum alloy or other metal profiles connected by welding or bolting, and may also include a metal plate profile enclosure disposed outside the metal frame. The metal frame can be freely coordinated and arranged according to the layout of different components and parts to ensure that the components do not interfere with each other and can operate normally. Therefore, the specific shape and structure of the frame 10 are not limited in this embodiment.

[0064] Of course, in order to facilitate the movement and transportation, universal wheels can also be installed at the bottom of the metal frame. In the subsequent embodiments, the frame 10 mentioned is regarded as referring to the metal frame for ease of understanding.

[0065] like Figure 3 As shown, Figure 3 The schematic diagram shows the frame housing hidden. The material transfer device also includes a material storage box 50, which includes a box body 51 and at least two stacked material trays 52. The box body 51 is fixedly connected to the frame 10. In this embodiment, the height direction of the material storage box 50 is defined as the X-axis direction, the width direction of the material storage box 50 is defined as the Y-axis direction, and the depth direction of the material storage box 50 is defined as the Z-axis direction.

[0066] The box 51 comprises multiple stacked storage spaces, each containing a material tray 52. ​​In this embodiment, the material to be transferred is arranged at an angle within the material tray 52. ​​For example, the material to be transferred could be a meat patty. The material tray 52 contains a meat patty broth, which partially soaks the patty in the broth, preserving its flavor. The storage box 50 is a refrigerated container, ensuring the freshness of the material to be transferred.

[0067] like Figure 4 As shown, in this embodiment, a storage rack 53 is further provided within the material tray 52. ​​The storage rack 53 includes a frame body 531 and a plurality of vertical baffles 532 and inclined baffles 533 connected to the frame body 531 and arranged at intervals. The inclined baffles 533 are located on the innermost side of the material tray 52, i.e., away from the open end of the storage box 50. It is understandable that a material to be transferred is placed at an angle between two adjacent vertical baffles 532, so that multiple materials to be transferred are sequentially arranged at an angle and at intervals within the material tray 52. ​​This orderly arrangement of the materials to be transferred is beneficial to the transfer efficiency of the automated material handling. The material tray 52 and the storage rack 53 can be made of stainless steel or other metal materials.

[0068] The material to be transferred within the material tray 52 is provided with preset position information. This position information includes the height and width of the material tray, as well as the depth of the material within the tray. This height, width, and depth information can be used to determine the specific location of the material to be transferred, allowing the retrieving mechanism 40 to quickly locate the material's position in three-dimensional space, thereby controlling the coordination of various components to achieve material transfer.

[0069] Specifically, in one embodiment, Figure 2 and Figure 3As shown, the drive mechanism 20 is fixed to the frame 10. The drive mechanism 20 can drive the material picking mechanism 40 to move along the height direction (i.e., the X-axis direction) and / or the horizontal direction (i.e., the Y-axis direction) of the frame 10, so as to reach the predetermined position of the storage box 50 and pick up the material to be transferred from the preset material tray 52. ​​It is understandable that the drive mechanism 20 can be any one of a pneumatically controlled telescopic cylinder, a motor-driven gear rack mechanism, and a motor-driven screw and nut mechanism. In other embodiments, the drive mechanism 20 can drive the material picking mechanism 40 to move in any form, as long as the drive mechanism can drive the material picking mechanism to move to the predetermined position.

[0070] In one embodiment, Figure 5 and Figure 6 As shown, the drive mechanism 20 includes a linear motion module 21 mounted on the frame 10, a first drive motor 22, a movable base 23, and a first positioning sensor (not shown). The first drive motor 22 is mounted on the top of the frame 10 and drives the linear motion module 21 to move in a first direction. The first drive motor 22 can be a servo motor, but can also be other types of motors or drive devices, which are not limited here. The movable base 23 is fixedly connected to the linear motion module 21, and the first positioning sensor is used to detect the positioning information of the movable base 23 in the first direction.

[0071] In order to facilitate the horizontal positioning of the material retrieving mechanism 40, the material transfer device further includes a rotating mechanism 30, which drives the material retrieving mechanism 40 to move horizontally. In some embodiments, the rotating mechanism 30 can also serve as part of the driving mechanism 20 to move the material retrieving mechanism 40 to a predetermined position.

[0072] Specifically, the drive mechanism 20 further includes a base plate 24 and a connecting plate 25. The base plate 24 is disposed on the movable base 23 and is arranged parallel to the movable base 23. The connecting plate 25 is perpendicularly connected to the base plate 24, and the rotating mechanism 30 is connected to the movable base 23 of the drive mechanism 20 via the connecting plate 25. To enhance the overall connection stability, at least one side of the connecting plate 25 is further provided with reinforcing ribs and / or a reinforcing plate 251. In other embodiments, the connection method between the drive mechanism 20 and the rotating mechanism 30 can also be adjusted according to actual conditions and is not limited here.

[0073] The rotating mechanism 30 can rotate in a horizontal direction relative to the frame 10, thereby driving the material picking mechanism 40 to rotate to different positions in the horizontal plane to pick up the material to be transferred in a corresponding material tray 52.

[0074] Specifically, the rotating mechanism 30 includes a rotating arm 31, a second drive motor 32, and at least one second positioning sensor 33. One end of the rotating arm 31 is connected to the connecting plate 25 of the drive mechanism 20, allowing the rotating arm 31 to rotate circumferentially in a horizontal plane about the connection point with the connecting plate 25. In one embodiment, the second drive motor 32 is a servo motor. To improve the accuracy of the rotation angle of the rotating arm 31, a speed reducer is provided at the output end of the second drive motor 32. This reduces the rotation speed of the rotating arm 31 and allows for more precise control of the rotation angle of the rotating arm 31.

[0075] At least one second positioning sensor 33 and at least one anti-collision block 34 are provided at the bottom of the connecting plate 25. The second positioning sensor 33 is used to detect the rotation angle of the rotating arm 31 in the rotating mechanism 30. In this embodiment, the second positioning sensor 33 is a slot-type photoelectric sensor. Correspondingly, the rotating arm 31 is provided with a sensing block that cooperates with the second positioning sensor 33. The three slot-type photoelectric sensors are arranged around the bottom of the connecting plate 25 to detect different rotation angles of the rotating arm 31.

[0076] In order to prevent the rotating arm 31 from excessively rotating, two anti-collision blocks 34 are further provided at the bottom of the connecting plate 25, thereby preventing the rotating arm 31 from excessively rotating clockwise or counterclockwise.

[0077] The material picking mechanism 40 is rotatably connected to a side of the rotating mechanism 30 away from the driving mechanism 20 . The material picking mechanism 40 can be deflected relative to the rotating mechanism 30 , so that the material picking mechanism 40 can tilt to pick up materials.

[0078] The material taking mechanism 40 includes a rotating seat 41 and a material taking assembly 42 mounted on the rotating seat 41. Specifically, the rotating seat 41 is rotatably connected to one end of the driving mechanism 20; the rotating seat 41 can deflect relative to the driving mechanism 20.

[0079] like Figure 7 As shown, the rotating seat 41 includes a rotating plate 411 and a mounting bracket 412. The rotating plate 411 is vertically connected to the mounting bracket 412. One end of the rotating plate 411 is rotatably connected to the driving mechanism 20. The other end of the rotating plate 411 is vertically connected to the mounting bracket 412. The material picking assembly 42 is installed on the mounting bracket 412.

[0080] The retrieving mechanism 40 further includes a driver 43, one end of which is fixedly connected to the driving mechanism 20 and the other end of which is connected to the rotating base 41. The driver 43 drives the rotating base 41 to deflect relative to the driving mechanism 20. In one embodiment, the driver 43 is a telescopic cylinder having a fisheye joint 431 at the end of the telescopic rod of the telescopic cylinder. A fixed shaft 413 is provided on the side of the rotating plate 411 away from the mounting bracket 412, and the fixed shaft 413 is connected to the fisheye joint 431.

[0081] In this embodiment, one end of the driver 43 is fixedly connected to the rotating arm 31 of the rotating mechanism 30, and the other end is connected to the rotating base 41. The driver 43 drives the rotating base 41 to deflect relative to the rotating arm 31 away from the end of the movable base 23. Optionally, the material picking assembly 42 can be a suction cup assembly or a mechanical gripper. It should be noted that the suction cup assembly can provide a vacuum environment through a compressor, generating negative pressure at the suction part of the suction cup to enable the material to be picked up, and generating positive pressure at the suction part of the suction cup to enable the material to be released. The mechanical gripper can be a mechanical gripper whose movement is controlled by a motor through a transmission assembly to control the linkage mechanism. To avoid damaging the material, the mechanical gripper can clamp or release the material from two opposite planes. It is understandable that when using a suction cup, the risk of damage to the material is lower, and it is easier to ensure the quality of the material. In actual applications, those skilled in the art can also choose to use a suction cup assembly or a mechanical gripper according to actual product requirements.

[0082] In one embodiment, Figure 7 As shown, the material retrieving assembly 42 is a suction cup assembly, comprising a suction cup 2, a pressure member 3, a movable member 4, and a first detector 5. The suction cup 2 is mounted on a mounting bracket 412; the pressure member 3 is mounted on the suction cup 2; the movable member 4 is movably mounted on the mounting bracket 412 and connected to the pressure member 3. The pressure member 3 deforms and moves with the suction cup 2, driving the movable member 4 to move. The first detector 5 is mounted on the mounting bracket 412 and is located to one side of the movable member 4. The first detector 5 is used to detect the displacement of the movable member 4 and, based on this displacement, determine whether the suction cup 2 has picked up material.

[0083] When the suction cup 2 is pressed against the material to be transferred, the suction cup 2 itself deforms to a certain extent, which drives the pressing member 3 to move, and the pressing member 3 in turn drives the movable member 4 to slide on the mounting bracket 412. The movable member 4 can directly abut the pressing member 3, and the movement of the pressing member 3 can drive the movable member 4 to move. The two can also be fixedly connected using a common mechanical connection structure, which is not limited here.

[0084] The first detector 5 is mounted on the mounting bracket 412 and positioned to one side of the movable part 4. This allows it to detect the movement of the movable part 4 and, based on the displacement of the movable part 4, calculate the deformation of the suction cup 2, thereby determining whether the suction cup 2 has absorbed material. Therefore, the first detector 5 only needs to sense the displacement of the movable part 4. Therefore, the first detector 5 can be a common photoelectric sensor, distance sensor, or the like. In this embodiment, the first detector 5 can be a proximity switch, a position switch that operates without direct mechanical contact with the moving part. When an object approaches the switch's sensing surface within the operating distance, the proximity switch is activated without mechanical contact or pressure, thereby driving a DC device or providing control instructions to a control circuit. A proximity switch is a switch-type sensor (i.e., a contactless switch) that combines the characteristics of a travel switch and a microswitch with sensing capabilities. It also features reliable operation, stable performance, fast frequency response, a long service life, strong anti-interference capabilities, and is waterproof, shockproof, and corrosion-resistant.

[0085] In the above scheme, a pressure member 3 fixedly connected to the suction cup 2 is provided, so that the deformation generated after the suction cup 2 abuts against the material can be transmitted to the pressure member 3 and manifested as the displacement of the pressure member 3, and the movable member 4 connected to the pressure member 3 is displaced under the push of the pressure member 3, and the first detector 5 arranged on one side of the movable member 4 determines whether the suction cup 2 has absorbed the material by detecting the displacement of the movable member 4.

[0086] The material transfer device of the embodiment of the present application further includes a rotating platform 60, which is fixed to the frame 10. The rotating platform 60 is arranged on the motion path of the material taking mechanism 40 and is located on one side of the material storage box 50. The rotating platform 60 can be used to adjust the placement direction of the material.

[0087] For example, after the material picking mechanism 40 picks up the material to be transferred from the material tray 52 , it can release the material to be transferred onto the rotating platform 60 .

[0088] In the above solution, driven by the driving mechanism 20 and the rotating mechanism 30, the material picking mechanism 40 moves with the material to the rotating platform 60, and the material picking mechanism 40 releases and unloads the material onto the rotating platform 60. This can achieve tilted material picking and placement, improve picking and placement accuracy, and enhance material transfer efficiency.

[0089] For further information, please refer to Figure 1 and Figure 3 In order to ensure that the materials in each material tray can be automatically and orderly supplied, the material transfer device also includes: at least one first detector 70 and a tray pulling mechanism 80 installed on the frame 10.

[0090] The first detector 70 is mounted on the top of the storage bin 50 and is used to detect the location of the material to be transferred. In one embodiment, three first detectors 70 are installed on the top of the storage bin, each capable of detecting whether a corresponding material tray 52 has been pulled out of the storage bin 50. Specifically, the first detector 70 may be a photoelectric distance sensor, which determines the location of the material to be transferred based on the detected position of the material tray 52. ​​The location information includes X-axis position information, Y-axis position information, and Z-axis position information.

[0091] Specifically, the tray pulling mechanism 80 includes a first moving assembly 81, a second moving assembly 82, and a clamping assembly 83. The clamping assembly 83 is mounted on the second moving assembly 82, and the second moving assembly 82 is slidably connected to the first moving assembly 81.

[0092] The first moving assembly 81 drives the clamping assembly to move along the X-axis direction, that is, the clamping assembly 83 moves to a predetermined height of the material storage box.

[0093] The second moving assembly 82 drives the clamping assembly to move along the Z-axis direction until the clamping assembly 83 clamps a corresponding material tray 52 .

[0094] In one embodiment, the tray pulling mechanism 80 includes a plurality of gripping assemblies 83 spaced apart along the Y-axis, and each gripping assembly 83 can correspond to a material tray 52. ​​Thus, a corresponding gripping assembly 83 can be controlled to grip a corresponding material tray 52 according to the Y-axis position information.

[0095] After gripping the material tray 52, the second moving assembly 82 is controlled to move, driving the gripping assembly 83 and the material tray 52 to move away from the material storage box 50, so that the material to be transferred contained in the material tray 52 is dragged out to a preset distance outside the material storage box 50. In actual application, the controller can control the gripping assembly 73 to grip the corresponding material tray 52 according to the position information of each material tray 52 and pull it out of the material storage box 50 by a preset distance.

[0096] Before retrieving the material, the tray pull-out mechanism 80 can pre-drag the material to be transferred out of the storage box 50. At the same time, the drive mechanism 20 and the rotation mechanism 30 can position the retrieving mechanism 40 so that the retrieving mechanism 40 is aligned with the material to be transferred, allowing the retrieving mechanism 40 to accurately pick up the material to be transferred. This dual positioning of the retrieving mechanism and the material to be transferred can effectively improve the accuracy of retrieving the material, thereby improving the efficiency of material transfer.

[0097] The present application also provides a material transfer control method, which is applied to the above-mentioned material transfer device and includes:

[0098] Obtain location information of materials to be transferred;

[0099] Control the driving mechanism to move according to the position information, and drive the material taking mechanism to move to a predetermined position;

[0100] The material picking mechanism is controlled to deflect relative to the driving mechanism, and the material picking mechanism is controlled to tilt and pick up the material to be transferred.

[0101] In the above solution, driven by the driving mechanism 20, the material taking mechanism 40 moves with the material to the position of the rotating platform 60, and the material taking mechanism 40 releases and unloads the material and places it on the rotating platform 60. This can achieve tilted material picking and placing, improve the picking and placing accuracy, and improve the efficiency of material transfer.

[0102] Specifically, the position information of the material to be transferred includes X-axis position information, Y-axis position information, and Z-axis position information. Before the material picking mechanism picks up the material to be transferred, it is first necessary to control the tray pulling mechanism 80 to pull out a corresponding material tray 52 in the storage box according to the position information of the material to be transferred, so that the material to be transferred is located outside the storage box 50; at the same time, according to the position information of the material to be transferred, the driving mechanism is controlled to move along the X-axis direction, driving the material picking mechanism to move to the predetermined height position; and the driving mechanism is controlled to move along the horizontal direction, driving the material picking mechanism to move to the predetermined horizontal position; and then the material picking mechanism is controlled to deflect relative to the driving mechanism, and the material picking mechanism is controlled to tilt and pick up the material to be transferred.

[0103] Furthermore, the control of the tray pulling mechanism 80 to pull out a corresponding material tray 52 in the storage box according to the position information of the material to be transferred includes:

[0104] The first moving assembly 81 is controlled to move according to the X-axis position information, and the second moving assembly 82 is controlled to move according to the Z-axis position information, thereby driving the gripping assembly 83 to move to a predetermined position, and a corresponding gripping assembly 83 is controlled to grip a corresponding material tray 52 according to the Y-axis position information;

[0105] The second moving component 82 is controlled to move, driving the clamping component 83 and the material tray 52 to move away from the material storage box 50, so that the material to be transferred contained in the material tray 52 is dragged out of the material storage box 50.

[0106] Furthermore, the controlling the material taking mechanism to deflect relative to the driving mechanism and controlling the material taking mechanism to tilt and pick up the material to be transferred includes:

[0107] The driver is controlled to drive the material taking mechanism to tilt relative to the driving mechanism to a preset angle, so that the material to be transferred installed on the material taking mechanism abuts against the material placed obliquely in the material tray;

[0108] Control the material picking mechanism to pick up the material to be transferred.

[0109] In some specific embodiments, after controlling the material taking mechanism to deflect relative to the driving mechanism and controlling the material taking mechanism to tilt and pick up the material to be transferred, the method further includes:

[0110] Control the rotating mechanism to rotate horizontally to above the rotating platform and transfer the material to be transferred to the rotating platform.

[0111] An embodiment of the present application further provides a food processing device, which includes any of the aforementioned material transfer devices.

[0112] Specifically, the material transfer device can be used as a functional module in food processing equipment, specifically for supplying tilted ingredients. For example, during the hamburger production process, it can be used to supply patties that need to be soaked in soup. Therefore, by implementing the material transfer device in food processing equipment, precise positioning of the material transfer process can be achieved, improving transfer efficiency.

[0113] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0114] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various application aspects, in the above description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following intention: that the claimed application requires more features than those explicitly recited in each claim. Rather, as reflected in the claims below, application aspects lie in less than all the features of the individual embodiments disclosed above. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the present application.

[0115] It should be noted that the above embodiments illustrate rather than limit the present application, and that a person skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbols placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0116] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

[0117] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A material transfer device, characterized in that: The material transfer device comprises: frame; a driving mechanism mounted on the frame; a material taking mechanism, the material taking mechanism being rotatably connected to one side of the driving mechanism; and a controller, wherein the controller controls the driving mechanism to move according to the position information of the material to be transferred and drives the picking mechanism to move to a predetermined position, and then controls the picking mechanism to deflect relative to the driving mechanism so that the picking mechanism can tilt and pick up the material to be transferred; The material transfer device further includes a rotating seat, which is rotatably connected to one end of the driving mechanism; the material taking mechanism is mounted on the rotating seat; The rotating seat includes a mounting bracket; The material picking mechanism includes a material picking component installed on the rotating seat, and the material picking component includes a suction cup, a pressure piece, a movable piece and a first detector. The suction cup is arranged on the mounting bracket, the pressure piece is arranged on the suction cup, and the movable piece is movably arranged on the mounting bracket. The movable piece is connected to the pressure piece, and the pressure piece can be displaced with the deformation of the suction cup and is used to drive the movable piece to move. The first detector is arranged on the mounting bracket and is located on one side of the movable piece. The first detector is used to detect the displacement of the movable piece and judge whether the suction cup has absorbed material based on the displacement.

2. The material transfer device according to claim 1, characterized in that: The rotating seat includes a rotating plate, one end of which is rotatably connected to the driving mechanism, and the other end of which is vertically connected to the mounting bracket, and the material taking mechanism is mounted on the mounting bracket.

3. The material transfer device according to claim 1 or 2, characterized in that: The material taking mechanism includes a driver, one end of the driver is fixedly connected to the driving mechanism, and the other end is connected to the rotating seat. The driver drives the rotating seat to deflect relative to the driving mechanism.

4. The material transfer device according to claim 3, characterized in that: The driver is a telescopic cylinder, the end of the telescopic rod of the telescopic cylinder is provided with a fisheye joint, and a fixed shaft is provided on the side of the rotating seat away from the material taking mechanism, and the fixed shaft is connected to the fisheye joint.

5. The material transfer device according to claim 1, characterized in that: The driving mechanism includes a first driving motor and a moving base, wherein the first driving motor drives the moving base to move along the X-axis direction; The material transfer device also includes a rotating mechanism, which includes a second drive motor and a rotating arm. The two ends of the rotating arm are respectively connected to the moving seat and the material picking mechanism. The second drive motor drives the rotating arm to rotate horizontally.

6. The material transfer device according to claim 1, characterized in that: The material transfer device also includes: A material storage box and a material tray accommodated in the material storage box; a storage rack is provided in the material tray, and the materials to be transferred are arranged at inclined intervals in the storage rack.

7. The material transfer device according to claim 6, characterized in that: The material transfer device also includes: a tray pulling and pulling mechanism installed on the frame, the tray pulling and pulling mechanism includes a first moving component, a second moving component and a clamping component, the clamping component is installed on the second moving component, and the second moving component is slidingly connected to the first moving component; the first moving component drives the clamping component to move along the X-axis direction, and the second moving component drives the clamping component to move along the Z-axis direction until the clamping component clamps the corresponding one of the material trays.

8. The material transfer device according to any one of claims 1 to 7, characterized in that: The material transfer device also includes: At least one detector connected to the controller, wherein the detector is used to detect position information of the material to be transferred.

9. A material transfer control method, characterized in that: The control method is applied to the material transfer device according to any one of claims 1 to 8, and the control method includes: Obtain location information of materials to be transferred; Control the driving mechanism to move according to the position information, and drive the material taking mechanism to move to a predetermined position; The material picking mechanism is controlled to deflect relative to the driving mechanism, and the material picking mechanism is controlled to tilt and pick up the material to be transferred.

10. The material transfer control method according to claim 9, characterized in that: Before controlling the material taking mechanism to deflect relative to the driving mechanism and controlling the material taking mechanism to tilt and pick up the material to be transferred, the method further includes: According to the position information of the material to be transferred, the tray pulling mechanism is controlled to pull out a corresponding material tray in the storage box, so that the material to be transferred is located outside the storage box.

11. The material transfer control method according to claim 9 or 10, characterized in that: The controlling the driving mechanism to move according to the position information to drive the material taking mechanism to move to the predetermined position includes: According to the position information of the material to be transferred, the driving mechanism is controlled to move along the X-axis direction, driving the material taking mechanism to move to the predetermined height position; The driving mechanism is controlled to move in the horizontal direction, driving the material taking mechanism to move to a predetermined horizontal position.

12. The material transfer control method according to claim 9 or 10, characterized in that: The controlling the material taking mechanism to deflect relative to the driving mechanism, and controlling the material taking mechanism to tilt and pick up the material to be transferred, comprises: The driver is controlled to drive the material taking mechanism to tilt relative to the driving mechanism to a preset angle, so that the material to be transferred installed on the material taking mechanism abuts against the material placed obliquely in the material tray; Control the material picking mechanism to pick up the material to be transferred.

13. The material transfer control method according to claim 10, characterized in that: The position information of the material to be transferred includes X-axis position information, Y-axis position information, and Z-axis position information. The controlling of the tray pulling mechanism to pull out a corresponding material tray in the storage box according to the position information of the material to be transferred includes: Controlling the movement of the first moving assembly according to the X-axis position information, controlling the movement of the second moving assembly according to the Z-axis position information, driving the gripping assembly to move to a predetermined position, and controlling a corresponding gripping assembly to grip a corresponding material tray according to the Y-axis position information; The second moving component is controlled to move, driving the clamping component and the material tray to move away from the material storage box, so that the material to be transferred contained in the material tray is dragged out of the material storage box.

14. A food processing device, characterized in that: The material transfer device comprises the material transfer device according to any one of claims 1 to 8.

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