A full-automatic stuffed food tray placing machine

Abstract

The application provides a full-automatic stuffed food tray placing machine. The application comprises a first conveying mechanism, a tray falling mechanism, a second conveying mechanism and a material moving mechanism. The input end of the first conveying mechanism is connected with the output end of a wrapping station. The tray falling mechanism is connected with the input end of the second conveying mechanism. The first conveying mechanism is provided with a baffle mechanism. The baffle mechanism is used for assisting the standing of the stuffed food output by the wrapping station when the stuffed food enters the first conveying mechanism. The material moving mechanism comprises a gripper device. The gripper device comprises a gripper frame and at least one column of gripper mechanisms arranged on the gripper frame. The gripper mechanisms comprise a plurality of first clamping pieces and second clamping pieces. At least one of the first clamping pieces and the second clamping pieces is a movable clamping piece. The first clamping pieces and the second clamping pieces are used for clamping the preset clamping position of the stuffed food, so as to transfer the stuffed food on the first conveying mechanism to the tray of the second conveying mechanism. The application has high automation degree and saves labor cost.

Description

Technical Field

[0001] This invention relates to the field of fully automatic stuffed food production technology, and in particular to a fully automatic stuffed food plating machine. Background Technology

[0002] Currently, many families buy frozen dumplings or buns for convenience. While there are already fully automated production lines for these products, manual labor is still required to place the dumplings or buns onto trays for packaging. The fully automated production lines produce a huge number of dumplings or buns every day, and each machine requires multiple people to assist with packaging, resulting in high labor costs and low efficiency.

[0003] Taking an automatic dumpling machine as an example, in order to solve this technical problem, the "Fully Automatic Plate-Loading Machine" with publication number CN205525091U uses a loading claw with an arc-shaped concave surface and an auxiliary baffle with a flat surface to form a material transfer space, grab the material from the material transfer belt, and then place the material steadily in the corresponding position on the plate, thus realizing the placement of the material in the tray.

[0004] However, in actual production, during the transfer of dumplings from the wrapping station to the plating machine, the pushing mechanism applies a certain force to the dumplings, causing the dumplings that should be standing to be knocked over. During the subsequent plating process, the loading claws will grab the dumplings according to a preset method. The upright dumplings can be grabbed normally, while the dumplings that have been knocked over will not be grabbed or will be damaged during the grabbing process, affecting the efficiency and success rate of the overall packaging process.

[0005] Furthermore, the existing device uses a loading claw that moves horizontally under the action of a loading horizontal cylinder to grab the material away from the transfer belt. However, in actual production, during the process of transferring the dumplings from the wrapping station to the tray-loading machine, the spacing between adjacent rows of dumplings at the discharge station is greater than the spacing between dumplings on the loading tray, resulting in an excessively wide loading tray with too much idle space. At the same time, although the dumplings are produced automatically, the edges of the dumplings vary in thickness. For dumplings with thick edges, the loading claw may over-compress them or even break them. For dumplings with thin edges, it may not be able to grip the dumpling before proceeding to the next process, causing subsequent dumpling blockage and affecting the overall production rhythm. Summary of the Invention

[0006] To address the aforementioned technical problems, a fully automatic food plating machine for stuffed foods is provided. The technical means employed in this invention are as follows:

[0007] A fully automatic food plating machine for stuffed foods includes a first conveying mechanism, a tray-dropping mechanism, a second conveying mechanism, and a transfer mechanism. The input end of the first conveying mechanism is connected to the output end of the stuffing station, and the tray-dropping mechanism is connected to the input end of the second conveying mechanism. The first conveying mechanism is equipped with a baffle mechanism to assist the stuffed foods from the stuffing station in standing upright when they enter the first conveying mechanism. The transfer mechanism includes a gripper device, which includes a gripper frame and at least one row of gripper mechanisms disposed thereon. Each gripper mechanism includes several first and second grippers, at least one of which is a movable gripper. By gripping the stuffed foods at preset gripping positions using the first and second grippers, the stuffed foods on the first conveying mechanism are transferred to the tray of the second conveying mechanism.

[0008] Furthermore, the baffle mechanism is a lifting baffle mechanism, which is set at the input end of the conveyor belt of the first conveying mechanism. The output end of the packaging station is provided with an auxiliary baffle for standing the foremost stuffed food in a standing position, so that the output end of the packaging station can output the stuffed food in a standing position. The lifting baffle mechanism is used to perform a lifting and lowering action before the foremost stuffed food in a standing position enters the conveyor belt, thereby assisting the stuffed food in standing when it enters the conveyor belt.

[0009] Furthermore, the lifting baffle mechanism includes a cylinder and a baffle. The baffle is connected to the output end of the cylinder, and the cylinder drives the baffle to lift. The cylinder is mounted on an arched bracket, the bottom of which is connected to the conveyor belt, and the distance between the arched bracket and the input end of the conveyor belt can be adjusted. The height of the cylinder relative to the arched bracket is adjustable.

[0010] Furthermore, the baffle mechanism is a rotating baffle mechanism, which is located at the input end of the conveyor belt of the first conveying mechanism. The output end of the packaging station is provided with an auxiliary baffle for standing the foremost stuffed food in a standing position, so that the output end of the packaging station can output the stuffed food in a standing position. The rotating baffle mechanism rotates accordingly with the conveyor belt and is used to stop the foremost stuffed food in a standing position at a set stop position before it enters the conveyor belt, thus completing the auxiliary standing of the stuffed food when it enters the conveyor belt.

[0011] Furthermore, a transition plate is connected to the input end of the conveyor belt, and the distance between the transition plate and the input end of the conveyor belt is adjustable.

[0012] Furthermore, in the gripper device, the movable grippers in the same row are all driven by the first drive mechanism, and the first drive mechanism is connected to the movable grippers by a linkage mechanism. The gripper frame is connected to the transfer device by a connecting frame.

[0013] Furthermore, the shapes of the first and second clamping pieces are designed to accommodate the edge shapes of stuffed foods of different weights, with one clamping piece being a fixed clamping piece that is fixedly installed on the bottom of the gripper frame.

[0014] Furthermore, the gripper mechanism has two or more rows, a second driving device is provided on the connecting frame, a guide rod is provided on the connecting frame, and the gripper frame is slidably connected to the guide rod.

[0015] Furthermore, the first clamp is a segmented clamp, and when the first driving mechanism drives the first clamp to be in an open state, the distance between each segmented clamp and the second clamp may be the same or different.

[0016] Furthermore, it also includes a roller connecting mechanism, which is disposed at the output end of the second conveying mechanism and serves as a receiving mechanism for downstream processes.

[0017] Furthermore, the control system is connected to the first conveying mechanism, the tray-dropping mechanism, the second conveying mechanism, and the material transfer mechanism. The control system adjusts the output states of the first conveying mechanism, the tray-dropping mechanism, and the second conveying mechanism, as well as the material transfer state of the material transfer mechanism.

[0018] The control system controls the baffle mechanism to assist the stuffed food in standing upright based on the entry status of the stuffed food on the first conveying mechanism.

[0019] The control system controls the opening and closing status and travel parameters of the conveyor belt of the first conveyor mechanism based on the quantity of stuffed food on the first conveyor mechanism.

[0020] The control system controls the tray output of the tray dropping mechanism and the opening and closing status and travel parameters of the second conveying mechanism based on the tray existence status at the preset position of the second conveying mechanism.

[0021] The control system controls the transfer mechanism to move the stuffed food from the first conveyor to a preset position tray on the second conveyor based on the quantity of stuffed food on the first conveyor, the opening and closing status of the conveyor belt of the first conveyor, and the opening and closing status of the second conveyor.

[0022] The present invention has the following advantages:

[0023] 1. The lifting baffle mechanism helps adjust the standing posture of filled foods, thereby ensuring the stability and success rate of subsequent gripping processes. At the same time, the positions of the arched support, cylinder and transition plate are all adjustable, which can facilitate the adjustment of the standing posture of filled foods of different sizes, and realize the automated traying of filled foods of different sizes.

[0024] 2. The grippers of this invention can be divided into single-row grippers and double-row or more grippers. By driving the connecting rod installed on the movable block of the gripper, the first and second grippers are made to close and open, thereby realizing the gripping and releasing of stuffed foods with a high synchronization rate. A shrinking mechanism can be provided in the double-row or more grippers. Through the second driving mechanism, the center distance between the gripped stuffed foods is reduced to the required distance, allowing the tray to hold more stuffed foods more efficiently, improving tray utilization. Furthermore, the shrinking distance is adjustable.

[0025] 3. The movable clamping piece of this invention adopts a split structure, which ensures that the two pieces bear different forces, making it easy to grasp stuffed foods with the same thickness on the top, ensuring grasping accuracy, and also ensuring that stuffed foods with thick skin are not crushed, reducing the breakage rate.

[0026] 4. Through the linkage of the first conveying mechanism, the transfer mechanism and the second conveying mechanism, the filled food products output from the packaging station can be stably placed in the corresponding positions on the tray, realizing the placement of filled food products in the tray. The degree of automation is high, reducing the problems of slow speed and low efficiency of manual tray loading, and saving labor costs. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a top view of the overall structure of the present invention.

[0029] Figure 2 This is a front view of the overall structure of the present invention.

[0030] Figure 3 This is a front view of the first conveying mechanism, which is a lifting baffle mechanism, in an embodiment of the present invention.

[0031] Figure 4 This is a top view of an embodiment of the present invention where the first conveying mechanism is a lifting baffle mechanism.

[0032] Figure 5 This is a front view of the first conveying mechanism, which is a rotating baffle mechanism, in an embodiment of the present invention.

[0033] Figure 6 This is a front view of the gripper device in an embodiment of the present invention.

[0034] Figure 7 This is a side view of the gripper device in an embodiment of the present invention.

[0035] Figure 8 This is a side view of the gripper device in the open state in an embodiment of the present invention.

[0036] Figure 9 This is a front view of a second embodiment of the gripper device in this invention.

[0037] In the diagram: 1. First conveying mechanism; 2. Second conveying mechanism; 3. Tray dropping mechanism; 4. Material transfer mechanism; 5. Roller connection mechanism; 6. Tray; 11. Conveyor belt; 12. Cylinder; 13. Baffle; 14. Auxiliary baffle; 15. Arched support; 16. Transition plate; 21. Gripper frame; 22. First clamping piece; 23. Second clamping piece; 24. First drive mechanism; 25. Linkage mechanism; 26. Connecting frame; 27. Second drive device; 28. Guide rod; 31. Rotary motor; 32. Rotating baffle. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] like Figure 1 , Figure 2 As shown, this invention discloses a fully automatic food plating machine for filled foods, including a first conveying mechanism, a tray-dropping mechanism, a second conveying mechanism, and a transfer mechanism. The input end of the first conveying mechanism 1 is connected to the output end of the filling station, and the tray-dropping mechanism 3 is connected to the input end of the second conveying mechanism 2. The first conveying mechanism is equipped with a baffle mechanism to assist the filled foods from the filling station in standing upright when they enter the first conveying mechanism. The transfer mechanism 4 includes a gripper device, which includes a gripper frame and at least one row of gripper mechanisms disposed thereon. Each gripper mechanism includes several first and second grippers, at least one of which is a movable gripper. By gripping the filled foods at preset clamping positions using the first and second grippers, the filled foods on the first conveying mechanism are transferred to the tray 6 of the second conveying mechanism. In this embodiment, both the first and second conveying mechanisms include conveyor belts, which facilitate the transfer of the filled foods and the trays.

[0040] like Figure 3 and 4As shown, as an optional implementation, in this embodiment, the baffle mechanism is a lifting baffle mechanism, including a conveyor belt 11 and a lifting baffle mechanism. The output end of the packaging station is located before the input end of the conveyor belt, and the lifting baffle mechanism is located at the input end of the conveyor belt. The output end of the packaging station can output filled food in a standing position. The lifting baffle mechanism is used to perform a lifting and lowering action before the frontmost standing filled food enters the conveyor belt, thus assisting the filled food in standing up when entering the conveyor belt.

[0041] Specifically, the output end of the packaging station is equipped with an auxiliary baffle 14 for supporting the foremost standing stuffed food to stand upright, thereby enabling the output end of the packaging station to output stuffed food in a standing position.

[0042] The lifting baffle mechanism includes a cylinder 12 and a baffle 13. The baffle is connected to the output end of the cylinder, and the cylinder drives the baffle to lift and lower. The cylinder is installed at a preset position above the conveyor belt. In this embodiment, the baffle is a vertical plate or an inverted L-shaped plate. In other optional embodiments, the baffle can be a structure that can apply a blocking force to the filled food being pushed to the output end of the conveyor belt to maintain its upright posture.

[0043] As an optional implementation, a control system is also included. This control system is connected to the first conveying mechanism, the tray-dropping mechanism, the second conveying mechanism, and the material transfer mechanism. The control system adjusts the output states of the first conveying mechanism, the tray-dropping mechanism, and the second conveying mechanism, as well as the material transfer state of the material transfer mechanism. As an optional implementation, the auxiliary baffle 14 is made of a flexible material, allowing the filled food to be stabilized into an upright position after being pushed out. In a specific implementation, the filled food products finished at the previous station are discharged stably and upright at a certain interval, and the conveyor belt maintains a preset frequency that matches this. Simultaneously, the output frequency of the cylinder is adjusted to ensure that after each movement of the conveyor belt, the filled food items in the same row move forward one position. The timing of the baffle falling is precisely before the foremost standing filled food item enters the conveyor belt. At this time, the falling baffle assists the filled food item in standing upright. After the filled food item stabilizes, when the baffle rises above the upper edge of the filled food item, the conveyor belt moves the assisted filled food item forward one position. The filled food items at the next station continue to be assisted in standing upright by the rising and falling baffles. As an optional implementation, the positioning of the filled food items can be achieved using a proximity switch. In this embodiment, the process of determining the position of the item through a proximity switch, thereby triggering other devices to operate, is a conventional technique that can be implemented using existing technology.

[0044] Specifically, in this embodiment, the cylinder is mounted on the arched bracket 15, the bottom of which is connected to the conveyor belt, and the distance between the arched bracket and the input end of the conveyor belt can be adjusted. In a specific implementation, adjustment can be achieved by setting guide rails on the conveyor belt. In other optional implementations, adjustment can also be achieved by opening multiple threaded holes at corresponding positions on the arched bracket and the conveyor belt, changing their relative positional relationship, and then fixing them. Other methods that facilitate adjusting their relative positional relationship are also applicable.

[0045] In this embodiment, the arched support includes at least two columns and a crossbeam connecting the columns. Optionally, a cylinder is connected to the crossbeam. The height of the cylinder relative to the arched support is adjustable. Optionally, the cylinder can be mounted on a guide rail on the crossbeam of the arched support for adjustment. In other options, multiple threaded connection holes can be provided on the crossbeam at corresponding positions to the cylinder, allowing adjustment by changing their relative positional relationship. Alternatively, adjustable columns can be used, and the height between the cylinder and the conveyor belt can be indirectly adjusted by adjusting the height of the arched support. Other methods that facilitate adjusting their relative positional relationship are also applicable.

[0046] The input end of the conveyor belt is connected to a transition plate 16. The distance between the transition plate and the input end of the conveyor belt is adjustable. Similarly, it includes guide rail connection type, screw hole mounting type and other feasible implementation methods.

[0047] Taking dumplings as an example, filled foods vary in height and filling volume depending on the size of the dumpling. In this embodiment, the height of the cylinder, the position of the arched support, and the position of the transition plate are all adjustable. This allows for adjustments based on different dumpling sizes, facilitating different baffle descent values ​​for each size. During actual operation, the lowest point of the baffle's descent is either on the conveyor belt or above a preset distance. In this embodiment, for vertical filled foods, the filling is at the bottom, and the edge is at the top. The preset distance cannot exceed the top edge of the vertical filled food.

[0048] like Figure 5As shown, as another optional implementation, in this embodiment, the baffle mechanism is a rotating baffle mechanism. The rotating baffle mechanism is located at the input end of the conveyor belt of the first conveying mechanism. An auxiliary baffle is provided at the output end of the wrapping station to help the foremost standing filled food items stand upright, allowing the output end of the wrapping station to output standing filled food items. The rotating baffle mechanism includes a rotating baffle drive device and a rotating baffle 32 connected to it. In this embodiment, the drive device is a rotary motor 31. The rotating baffle rotates accordingly with the conveyor belt, stopping at a set stop position before the foremost standing filled food items enter the conveyor belt, thus assisting in standing the filled food items when they enter the conveyor belt. Specifically, when the dumplings are discharged to the foremost position, the rotating baffle stops, ensuring the dumpling discharge position is fixed and the dumplings are standing. When the conveying mechanism starts, the rotating baffle rotates accordingly with the conveying mechanism, stopping at the set stop position while ensuring that the dumplings are not interfered with during conveying, and this action is repeated cyclically. The rotation angle and speed are adjustable, as is the stop position. The rotary motor can be either a stepper motor or a servo motor.

[0049] like Figures 6-9 As shown, the gripper device includes a gripper frame 21 and at least one row of gripper mechanisms disposed thereon. Each gripper mechanism includes several first grippers 22 and second grippers 23. At least one of the first and second grippers is a movable gripper. The movable grippers in the same row are all driven by a first drive mechanism 24. The first drive mechanism and the movable grippers are connected by a linkage mechanism 25. Specifically, the output end of the first drive mechanism is connected to the linkage mechanism, which is connected to the upper end of the first gripper via several adapter rods. The gripper frame is connected to a transfer device via a connecting frame 26. In this embodiment, the transfer device is a robotic arm that receives the robot's positioning axis via a flange placed above the connecting frame. As one optional implementation, the first gripper is a movable gripper, and the second gripper is a fixed gripper, with the fixed gripper fixedly installed at the bottom of the gripper frame; or the first gripper is a fixed gripper, and the second gripper is a movable gripper. As another optional implementation, both the first and second grippers are movable grippers. In this embodiment, the drive mechanism can be any device capable of power output, such as pneumatic, electric, mechanical, or hydraulic drive.

[0050] The shapes of the first and second clamping pieces are designed to accommodate the shape of the edges of filled foods of different weights. This ensures stable gripping of the filled foods, preventing them from falling or sticking. The first and second clamping pieces shown may have the same or different thicknesses; if different, the fixed piece can be considered thin, and the movable piece thick. In the illustration, the end of the movable piece matches the preset shape of the upper edge of the filled food, and the fixed piece is an inverted L-shape. In other optional embodiments, the shapes of the first and second clamping pieces can be adaptively adjusted according to the specific style of the filled food.

[0051] The gripper mechanism has two or more rows. A second driving device 27 is provided on the connecting frame, and a guide rod 28 is provided on the connecting frame. The gripper frame is slidably connected to the guide rod. The gripper mechanism adjusts its position through the second driving device so that it can accurately grip filled foods using the first and second clamping plates during gripping. A retraction mechanism can be provided in grippers with two or more rows to reduce the center-to-center distance of the gripped filled foods to the required distance. This allows the tray to hold more filled foods, improving tray utilization. The retraction distance is adjustable, and the gripper position returns to its original set value after placement. Specifically, the gripper frame is movably connected to the connecting frame.

[0052] In a preferred embodiment, the first clamping piece is a segmented clamping piece. When the first driving mechanism drives the first clamping piece into an open state, the distance between each segmented clamping piece and the second clamping piece may be the same or different. Specifically, taking dumplings as an example of filled foods, the "same" here means that if the dumpling is a normal dumpling, the thickness of its upper part is a preset value, and the opening angle of the first clamping piece can match the upper part of the dumpling, thus allowing the dumpling to be grasped normally. The "different" here means that during the actual dumpling-making process, there may be a situation where two pieces of dough stick together to the upper part. In this case, one part of the upper part of the dumpling is thicker than the other part may be of normal thickness. In this case, the segmented clamping pieces can be adjusted to ensure that the two segments bear different forces.

[0053] In this embodiment, the pallet dropping mechanism can transfer a certain number of pallets to the second conveying mechanism. As an optional implementation, the pallet dropping mechanism includes a bin-like structure capable of storing a certain number of pallets. It automatically drops pallets according to the usage requirements of the next workstation's pallet conveying mechanism. When there are insufficient pallets, a buzzer alarm sounds to remind the user to add more pallets. The second conveying mechanism then transports the pallets dropped from the previous workstation to the required position at the next workstation.

[0054] As an optional implementation, the configuration of the first and second conveying mechanisms depends on the actual site conditions. The first conveying mechanism, the tray dropping mechanism, the second conveying mechanism, and the material transfer mechanism are combined as modular structures for tray production. The first and second conveying mechanisms can operate side by side or have a preset intersection angle. The attached figure of this embodiment shows the operating condition when the two are at 90 degrees. In other optional implementations, this angle can be adjusted arbitrarily. The first conveying mechanism is above the second conveying mechanism, and the distance between the two is at least sufficient to ensure the normal transmission of the tray.

[0055] Specifically, taking dumplings as an example of filled foods, the dumpling-making station outputs at least one row of dumplings. During operation, the second conveying mechanism pre-determines whether there is an empty tray at the placement station. If there is, the second conveying mechanism remains stationary; otherwise, it controls the tray-dropping mechanism to output a tray, and then starts the second conveying mechanism to transport the tray to the placement station. The conveyor belt of the first conveying mechanism carries the dumplings one by one to the output end of the conveyor belt. Depending on the number of grippers on the gripper mechanism, when the number of dumplings from the front of the conveyor belt to the subsequent dumplings reaches the number of the first grippers on the gripper mechanism, the first conveyor belt stops running. The material transfer mechanism starts after the dumpling discharge count is satisfied, both the first and second conveying mechanisms are stopped, and the tray on the second conveying mechanism is in the designated position. It controls the gripper mechanism to pick up the row of dumplings from the first conveying mechanism and place them on the tray. As an optional implementation, a roller connecting mechanism 5 is also included. The roller connecting mechanism is located at the output end of the second conveying mechanism and serves as a receiving mechanism for downstream processes.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully automatic food plating machine for stuffed foods, characterized in that, The device includes a first conveying mechanism, a tray-dropping mechanism, a second conveying mechanism, and a material transfer mechanism. The input end of the first conveying mechanism is connected to the output end of the packaging station, and the tray-dropping mechanism is connected to the input end of the second conveying mechanism. The first conveying mechanism is equipped with a baffle mechanism to assist the filled food products from the packaging station in standing upright when they enter the first conveying mechanism. The material transfer mechanism includes a gripper device, which includes a gripper frame and at least one row of gripper mechanisms disposed thereon. Each gripper mechanism includes a plurality of first and second grippers, at least one of which is a movable gripper. By gripping the filled food products at preset gripping positions using the first and second grippers, the filled food products on the first conveying mechanism are transferred to the tray of the second conveying mechanism. The first clamp is a split clamp, ensuring that the two halves bear different forces. When the first driving mechanism drives the first clamp to be in an open state, the distance between each split clamp and the second clamp may be the same or different. The same means that if the thickness of the upper part of the stuffed food is a preset value, the opening angle of the first clamp can match the upper part of the stuffed food, so as to normally grasp the stuffed food. The different means that if one part of the upper part of the stuffed food is thick and the other part is of normal value, the split clamp can be adjusted to ensure that the two halves bear different forces. The baffle mechanism is a lifting baffle mechanism or a rotating baffle mechanism; When the baffle mechanism is a lifting baffle mechanism, the lifting baffle mechanism is set at the input end of the conveyor belt of the first conveyor mechanism, and the output end of the packaging station is provided with an auxiliary baffle for standing the foremost upright stuffed food, so that the output end of the packaging station can output the upright stuffed food. The lifting baffle mechanism is used to perform a lifting and lowering action before the foremost upright stuffed food enters the conveyor belt, thus completing the auxiliary standing action when the stuffed food enters the conveyor belt. The lifting baffle mechanism includes a cylinder and a baffle. The baffle is connected to the output end of the cylinder, and the cylinder drives the baffle to lift and lower. The cylinder is mounted on an arched bracket, the bottom of which is connected to the conveyor belt, and the distance between the arched bracket and the input end of the conveyor belt can be adjusted. When the baffle mechanism is a rotating baffle mechanism, the rotating baffle mechanism is set at the input end of the conveyor belt of the first conveyor mechanism, and the output end of the packaging station is provided with an auxiliary baffle for standing the foremost upright stuffed food, so that the output end of the packaging station can output the upright stuffed food. The rotating baffle mechanism rotates accordingly with the conveyor belt, and it is used to stop the foremost upright stuffed food at a set stop position before it enters the conveyor belt, thus completing the auxiliary standing of the stuffed food when it enters the conveyor belt. The input end of the conveyor belt is connected to a transition plate, and the distance between the transition plate and the input end of the conveyor belt is adjustable.

2. The fully automatic stuffed food plating machine according to claim 1, characterized in that, The height of the cylinder relative to the arched support is adjustable.

3. The fully automatic stuffed food plating machine according to claim 1, characterized in that, In the gripper device, the movable grippers in the same row are all driven by the first drive mechanism. The first drive mechanism and the movable grippers are connected by a linkage mechanism. The gripper frame is connected to the transfer device through a connecting frame.

4. The fully automatic stuffed food plating machine according to claim 3, characterized in that, The shapes of the first and second clamping pieces are designed to accommodate the edge shapes of stuffed foods of different weights. One of the clamping pieces is a fixed clamping piece, which is fixedly installed on the bottom of the gripper frame.

5. The fully automatic stuffed food plating machine according to claim 3, characterized in that, The gripper mechanism has two or more rows, a second driving device is provided on the connecting frame, a guide rod is provided on the connecting frame, and the gripper frame is slidably connected to the guide rod.

6. The fully automatic stuffed food plating machine according to claim 1, characterized in that, It also includes a roller connecting mechanism, which is located at the output end of the second conveying mechanism and serves as a receiving mechanism for downstream processes.

7. The fully automatic stuffed food plating machine according to claim 1, characterized in that, It also includes a control system, which is connected to the first conveying mechanism, the tray-dropping mechanism, the second conveying mechanism, and the material transfer mechanism. The control system adjusts the output states of the first conveying mechanism, the tray-dropping mechanism, and the second conveying mechanism, as well as the material transfer state of the material transfer mechanism. The control system controls the baffle mechanism to assist the stuffed food in standing upright based on the entry status of the stuffed food on the first conveying mechanism. The control system controls the opening and closing status and travel parameters of the conveyor belt of the first conveyor mechanism based on the quantity of stuffed food on the first conveyor mechanism. The control system controls the tray output of the tray dropping mechanism and the opening and closing status and travel parameters of the second conveying mechanism based on the tray existence status at the preset position of the second conveying mechanism. The control system controls the transfer mechanism to move the stuffed food from the first conveyor to a preset position tray on the second conveyor based on the quantity of stuffed food on the first conveyor, the opening and closing status of the conveyor belt of the first conveyor, and the opening and closing status of the second conveyor.

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