Automatic pouring system for high-temperature meat product trays and control method

Abstract

The invention relates to process production machinery detection equipment, in particular to a high-temperature meat product tray automatic dumping system and a control method, the high-temperature meat product tray automatic dumping system is arranged on a tray automatic dumping device, and the control system comprises a PLC control system, a tray layer detection system, a material level detection system, a driving system and a man-machine interaction system; the automatic tray dumping device is used for receiving a control command of the PLC control system and executing corresponding movement; the PLC control system is used for receiving instruction parameters of the man-machine interaction system, collecting sensor information, judging the operation state according to feedback information of the material disc layer detection system and the material level detection system and adjusting the matching mode of the driving system to achieve automatic operation of the working procedure. Visual, ultrasonic, mechanical and non-contact sensors are matched with one another, the number of layers of trays and the state of the dumped material level are judged, the dumping process rhythm is adjusted, the problems of cross-medium detection, inaccurate positioning of judgment of the number of layers of the trays, high labor intensity of a manual process and the like are solved, and automatic control over procedures is achieved.

Description

Technical Field

[0001] The invention relates to process production machinery detection equipment, in particular to an automatic dumping system and control method for a high-temperature meat product tray. Background Art

[0002] High-temperature meat products are widely available in the market and are highly favored for their convenient storage and consumption. Its production process is mature. After high-temperature steaming, the raw materials go through cleaning, drying and other links in sequence, and finally are packaged as finished products and sold to various places. The cleaning process mainly uses immersion and other methods to remove impurities and residues on the surface of the product, and then it is transferred to the drying belt for drying through a vibrating screen. In the traditional process, semi-finished raw materials are placed in trays, stacked into whole piles, and then enter the steaming stage. After cooling, the trays are removed manually (usually two people are required, and the labor intensity is high) and poured into the cleaning pool. This process is inefficient and labor-intensive, and it is impossible to achieve automated integration of upstream and downstream processes, which seriously affects the efficiency and intelligent production level of the enterprise.

[0003] There are many ways to disassemble multi-layer trays, and it is necessary to select a technology that is suitable for both disassembling and stacking trays and evenly dumping materials into the cleaning tank to achieve automatic control. However, in actual production, due to the iteration of new and old technologies and cost issues, there will be a mix of various specifications of trays, so a detection and control method is needed to achieve the distinction between trays of various specifications. In addition, the drying mechanism of the downstream process does not operate continuously, so the realization of automatic control also requires a detection method to determine the material level in the cleaning tank to ensure that the automatic dumping system of high-temperature meat product trays can achieve a fully automated closed-loop operation. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automated, highly intelligent, and highly efficient high-temperature meat product tray automatic dumping system and control method that is controlled by ultrasound, vision, non-contact sensors, drives, and mechanics to overcome the defects of the above-mentioned equipment in the industry.

[0005] The purpose of the present invention is to provide an automatic dumping system and control method for high-temperature meat product trays, which realizes the disassembly of tray stacks through photoelectric and position sensors combined with the stacking and lamination technology of multi-layer trays; obtains the material level information of the cleaning tank through visual and ultrasonic technology, and realizes the dumping of materials in combination with the rotation and flipping control method, thereby realizing the automated operation of the process.

[0006] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: a high-temperature meat product tray stack automatic dumping system, including: a tray stack automatic dumping device and a PLC control system, a tray layer detection system, a material level detection system, a drive system, a human-computer interaction system and a cleaning tank arranged on the tray stack automatic dumping device;

[0007] The automatic dumping device for the stack of trays is used as an execution device of the automatic dumping system for the stack of trays of high-temperature meat products, and is used to receive control commands from the PLC control system and perform corresponding movements according to the control commands from the PLC control system;

[0008] The PLC control system is used to receive the parameters required by the human-machine interaction system to adjust the automatic dumping device of the material tray stack, and control it to perform corresponding movements, according to the material tray state fed back by the material tray layer detection system and the material level state fed back by the material level detection system, and at the same time, adjust the torque and speed of the servo motor through the drive system to achieve automatic control;

[0009] The tray layer detection system is used to detect the number of tray layers and determine the number and position of the inner tray layers on the tray stack automatic dumping device, so as to determine the position and action execution status of the mixed tray stacks of different specifications;

[0010] The material level detection system is used to detect the material level of the material tray stack and to determine the thickness of the dumped material level across the medium to guide the execution of the automatic dumping device of the material tray stack;

[0011] The drive system is used for coordination between multiple motors. Through real-time communication and control algorithms, it coordinates multiple servo motors for precise movement and positioning. It is connected to the PLC control system through a bus and adjusts the control strategy according to the actual movement state to ensure that the servo motors can accurately perform the predetermined movement tasks.

[0012] The human-computer interaction system is used to send the execution speed of the setting device and the brand information parameters to the PLC control system, and at the same time display the device information of the detection results and sensor status received from the PLC control system;

[0013] The cleaning pool is arranged directly below the overturning plate mechanism and is used for receiving and pouring high-temperature meat product materials.

[0014] The automatic dumping device for the material tray stack includes: a lifting and conveying mechanism, a walking truss, a flipping mechanism and an adaptive measuring device;

[0015] Among them, the lifting and conveying mechanism includes a main frame for depalletizing and stacking and a lifting and conveying platform arranged in the main frame for depalletizing and stacking. The main frame for depalletizing and stacking can drive the lifting and conveying platform to lift and lower, and the lifting and conveying platform is used to convey the material tray horizontally; the walking truss is arranged on one side of the main frame for depalletizing and stacking, and the flipping and inverting mechanism is arranged on the walking truss, and the walking truss can drive the flipping and inverting mechanism to move horizontally, and the flipping and inverting mechanism is used to drive the material tray to flip and dump the material and the horizontal transportation of the material tray; the material level detection system is arranged on the walking truss, which is used to detect the height of the dumped material accumulation.

[0016] The PLC control system includes: a PLC and a servo motor limit and origin sensor, an in-place detection sensor, and a position detection sensor connected thereto;

[0017] The servo motor limit and origin sensor is a Hall sensor, which is used to obtain the maximum and minimum stroke of the motor and locate the starting position of the motor, and simultaneously detect the servo motor origin positioning and overload limit, and feedback to the PLC control system;

[0018] There are multiple servo motor limit and origin sensors, which are respectively arranged on the main frame of the stacking and unstacking corresponding to one side of the motor output end of the lifting drive motor of the automatic dumping device of the material tray stack, on the platform frame corresponding to the drive output end of the conveying drive mechanism, and on the conveying frame corresponding to the drive output end of the flip drive assembly;

[0019] The in-place detection sensor is a photoelectric sensor, which is used to locate and detect the position of the tray stack inside the equipment, and feeds back to the PLC control system so that the drive system controls the motor to act in coordination;

[0020] There are multiple in-place detection sensors, which are respectively arranged on the main frame of the stacking and unstacking corresponding to the end side of the lifting drive shaft of the automatic dumping device of the material tray stack, on the platform frame corresponding to the end of the conveying drive mechanism, and on the conveying frame corresponding to the driving end of the flip drive assembly;

[0021] The position detection sensor is a photoelectric sensor, which is used to locate and detect the position of the single-layer material tray inside the equipment, and to feed back the PLC control system to make the drive system correct the action;

[0022] There are multiple position detection sensors, which are respectively arranged on the in-place sensor frame of the lifting and conveying platform, on the in-place sensor frame of the flipping and inverting mechanism, and at the rotation positioning mechanism of the disassembling and stacking main frame.

[0023] The tray layer detection system includes: a photoelectric sensor group, a position sensor group and a limit sensor group;

[0024] The photoelectric sensor group is arranged on the main frame of the palletizing and stacking, and is used to obtain the information of the position of the material tray to be dumped, and send it to the control system;

[0025] The position sensor group is arranged on the main frame of the palletizing and disassembling machine, and is used to obtain the position information of the lifting and conveying platform and send it to the control system;

[0026] The limit sensor group is connected to the PLC to obtain the height information of the lifting and conveying platform and send it to the control system.

[0027] The material level detection system comprises: an ultrasonic sensor group and a detection camera group connected to the PLC;

[0028] The ultrasonic sensor group is arranged on the truss main frame, and the emission direction is toward the cleaning tank, and is used to detect the material level information and send it to the PLC;

[0029] The detection camera group is arranged on the truss linear module of the walking truss, and the field of view is always directed toward the cleaning tank, and is used to photograph the material level of the high-temperature meat products across the medium in the cleaning tank and send it to the PLC.

[0030] The human-computer interaction system comprises: a structural box and a touch screen, a start button, a stop button, a reset button and an emergency stop button arranged on the structural box;

[0031] The touch screen, start button, stop button, reset button and emergency stop button are respectively embedded on the side of the structural box;

[0032] The touch screen, start button, stop button, reset button and emergency stop button (6006) are connected to the PLC of the PLC control system via a bus.

[0033] A control method for an automatic dumping system for a high-temperature meat product tray stack comprises the following steps:

[0034] 1) PLC controls the lifting and conveying platform and the reversing and inverting mechanism to return to zero. The servo motor limit and origin sensor obtain the return to zero position of the conveying drive mechanism and the reversing drive assembly and feeds it back to the PLC;

[0035] 2) Before starting the equipment, input the specification information and stacking information of the tray through the human-computer interaction system;

[0036] 3) The tray stack enters the lifting and conveying platform, and the position is detected by the in-place detection sensor. Then, the tray is disassembled into single-layer trays by the tray destacking method, and waits to enter the flipping mechanism;

[0037] 4) Obtain the material level thickness of the material tray stack in the cleaning tank through the cross-medium material level detection method;

[0038] 5) Monitor the thickness of the material tray stack in real time, analyze the curve change rate, and find that the thickness has a decreasing trend. Control the flipping mechanism to go to the receiving position, send the single-layer material tray into the flipping mechanism, and detect the status of the material tray through the position detection sensor;

[0039] 6) After the single-layer tray is fed into the tray flipping mechanism, step 3) is repeated to destacking;

[0040] 7) The material receiving position of the turning plate mechanism is above the cleaning tank. After the high-temperature meat product is turned over and poured out, a new single-layer material tray is immediately fed in, and step 5) is performed again. At this time, the empty material tray is at the bottom of the turning plate mechanism;

[0041] 8) Move the tray flipping mechanism to the empty tray feeding position, and stack the upper empty trays in the reverse process of step 3); flip the empty trays on the bottom platform to the upper layer, and then stack them in the reverse process of step 3), finally forming a stack of empty trays;

[0042] 9) When the entire stack of material trays is dumped, the lifting and conveying platform descends back to the original point and waits for new material trays to enter.

[0043] In the step 3), the trays are destacking into single-layer trays by a tray destacking method, and the height specifications of the trays are determined. If the height specifications of the trays are uniform, the following steps are included:

[0044] 1-1) The human-computer interaction system obtains the thickness H of the material tray, the number of layers N, the height of the outlet position and the distance H between the origin of the conveying drive mechanism m , the distance between the cylinder clamping mechanism and the origin of the rising platform is H n ; And send the collected parameter data to PLC;

[0045] 1-2) PLC obtains the rising height of the lifting and conveying platform based on the collected parameter data: H m -H;

[0046] 1-3) The cylinder clamping mechanism clamps the tray stack and controls the lifting and conveying platform to descend to the exit position, that is, the descending distance is: H m -H n -H, so that the single-layer tray can be separated and enter the tray turning mechanism;

[0047] 1-4) Control the lifting and conveying platform to rise H m -H n , the cylinder clamping mechanism releases the tray stack, the lifting and conveying platform drops by H, the cylinder clamping mechanism re-clamps the tray stack, the lifting and conveying platform drops by 2H, and the single-layer tray is detached;

[0048] 1-6) Repeat steps 1-4) until the tray stack is emptied and the lifting and conveying platform returns to the origin.

[0049] In the step 3), the trays are destacking into single-layer trays by a tray destacking method, and the height specifications of the trays are determined. If the height specifications of the trays are not uniform, the following steps are included:

[0050] 2-1) The thickness of the tray stack is set to three specifications, namely H1, H2, and H3, then:

[0051] 2-2) The human-computer interaction system can obtain the number of tray layers N, the distance between the outlet height and the origin of the lifting and conveying platform is H m , the distance between the flipping mechanism and the origin of the lifting and conveying platform is H n ;

[0052] 2-3) Lifting height of the conveying platform H m -max{H1,H2,H3};

[0053] 2-4) The lifting and conveying platform rises slowly, and the photoelectric sensor group assists in detecting the thickness of the material tray. After the photoelectric sensor group is triggered, the detected thickness of the material tray is sent to the PLC. The PLC compares the detected thickness of the material tray with {H1, H2, H3} to obtain the thickness H of the material tray. x , and H x within{H1, H2, H3}, and control the lifting and conveying platform to stop rising;

[0054] 2-5) The cylinder clamping mechanism clamps the tray stack and controls the lifting and conveying platform to descend a distance of H m -H n -Hx, so that the single-layer tray can be separated and enter the tray turning mechanism;

[0055] 2-6) Lifting height of the conveying platform H m -H n +min{H1, H2, H3}; the lifting and conveying platform rises slowly, and the photoelectric sensor group assists in detecting the thickness of the material tray. After the photoelectric sensor group is triggered, the detected material tray thickness is sent to the PLC. The PLC compares the detected material tray thickness with {H1, H2, H3} to obtain the material tray thickness H x , and H x within{H1, H2, H3}, and stops rising;

[0056] 2-7) The cylinder clamping mechanism releases the stack of trays, and the lifting and conveying platform descends to the thickness Hx of the trays measured in step 6), and the cylinder clamping mechanism re-clamps the stack of trays, and the lifting and conveying platform descends Hm-Hn-Hx to detach the single-layer trays;

[0057] 2-8) Repeat steps 2-4) to 2-6) until the stack of trays is emptied and the lifting and conveying platform returns to the origin.

[0058] In step 4), the material level thickness in the cleaning tank is obtained by the cross-medium material level detection method, comprising the following steps:

[0059] 3-1) The ultrasonic sensor group detects the material thickness on the water surface and sends it to the PLC. The PLC divides the water surface of the cleaning pool into areas to form a material thickness group X;

[0060] 3-2) The detection camera group detects the material status on the water surface and sends it to the PLC. Through the same area divided in step 3-1), the material distribution in the area is determined to form a material plane distribution group Y;

[0061] 3-3) Perform data fitting on material thickness groups X and Y to obtain the material distribution in the cleaning pool area.

[0062] The present invention has the following beneficial effects and advantages:

[0063] 1. The method of the present invention realizes cross-medium detection of material level in the cleaning tank by integrating ultrasonic and visual detection, providing closed-loop support for automatic control;

[0064] 2. The method of the present invention realizes the position detection of the mixed specification tray stack by the cooperation of the photoelectric and position sensors, thereby realizing the mixed specifications;

[0065] 3. The method of the present invention realizes cross-medium detection of material level in the cleaning tank by integrating ultrasonic and visual detection, providing closed-loop support for automatic control;

[0066] 4. The present invention can obtain the position information of the tray stack and the single-layer tray in the equipment through the cooperation of non-contact sensors and mechanical devices; realize the destacking and stacking of the tray stack through the stacking and stacking technology of multi-layer trays; realize the flipping and dumping of the materials in the tray through the flipping control technology under the rotation of the fixed axis, greatly reducing the labor intensity; realize the combination of the two processes of tray dumping and full tray feeding by controlling the motion rhythm and adjusting the control method, thereby improving the production rhythm and production efficiency;

[0067] 5. The present invention can convey whole stacks of trays filled with materials, automatically disassemble the whole stack of trays into single trays for conveying, and then enter the turning platform, turn over and invert in the designated container pool, and then convey the empty trays to the stacking machine for stacking. According to the logic of whole stacks of trays entering and whole stacks of trays exiting, automatic loading and unloading is completed; this device can be operated as a single machine or in conjunction with a production line. The turning and inverting device can load and unload trays, disassemble and stack, turn over and invert, convey, and self-adaptively measure, ensuring full automation of inverting, completely replacing manual inverting and semi-automatic inverting, greatly reducing manual labor intensity, and improving production efficiency.

[0068] 6. The whole stack of material trays of the present invention can be smoothly transported and positioned on the lifting and conveying platform, and cooperate with the rotating positioning mechanism of the destacking main frame to effectively and automatically destacker the material trays.

[0069] 7. The present invention can transport and position a single material tray, and realize automatic palletizing of the material trays under the cooperation of the centering and alignment mechanism of the lifting and conveying platform and the torsion spring flipping and positioning mechanism of the stacking main frame.

[0070] 8. The walking truss of the present invention synchronizes the two truss linear modules through the connecting shaft, and can smoothly transport the flipping mechanism through servo drive, which not only ensures the synchronization of the two slide truss linear modules, but also improves the positioning accuracy.

[0071] 9. The flipping and inverting mechanism of the present invention can fix the material tray tightly on the conveying frame under the joint action of the limit block and the positioning fork mechanism, and effectively flip and invert the material tray. In addition, this mechanism can transport and fix the material tray in the up and down directions, realize double-station flipping, and greatly improve production efficiency.

[0072] 10. The palletizing and unpalletizing lifting motors of the present invention are all servo-driven, which ensures the positioning accuracy of each link and improves the accuracy of palletizing and unpalletizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 The overall schematic diagram of the automatic dumping device for high-temperature meat product tray stacks of the present invention;

[0074] Among them, 10 is a material tray stack automatic dumping device, 20 is a PLC control system, 30 is a material tray layer detection system, 40 is a material level detection system, 50 is a drive system, and 60 is a human-machine interaction system;

[0075] Figure 2 Schematic diagram of the PLC control system of the present invention;

[0076] Among them, 2001 is PLC, 2002 is servo motor limit and origin sensor, 2003 is arrival detection sensor, 2004 is position detection sensor

[0077] Figure 3 Schematic diagram of the tray layer detection system of the present invention;

[0078] Among them, 3001 is a photoelectric sensor group, 3002 is a position sensor group, and 3003 is a limit sensor group;

[0079] Figure 4 The material level detection system of the present invention;

[0080] Among them, 4001 is a cleaning tank, 4002 is an ultrasonic sensor group, and 4003 is a detection camera group;

[0081] Figure 5 Schematic diagram of the human-computer interaction system of the present invention;

[0082] Among them, 6001 is the structure box, 6002 is the touch screen, 6003 is the start button, 6004 is the stop button, 6005 is the reset button, and 6006 is the emergency stop button;

[0083] Figure 6 It is a schematic diagram of the three-dimensional structure of the automatic dumping device for material tray stacks of the present invention;

[0084] Figure 7 It is a schematic diagram of the three-dimensional structure of the main frame for dismantling and stacking of the present invention;

[0085] Figure 8 It is a schematic diagram of the three-dimensional structure of the lifting and conveying platform of the present invention;

[0086] Fig. 9 It is a schematic diagram of the three-dimensional structure of the walking truss of the present invention;

[0087] Fig.10 It is a schematic diagram of the three-dimensional structure of the inverting mechanism of the present invention;

[0088] In the figure: 1 is the main frame for dismantling and stacking, 101 is the main frame, 102 is the lifting drive shaft, 103 is the lifting drive motor, 104 is the horizontal transmission chain mechanism, 105 is the lifting transmission chain mechanism, 106 is the safety grating, 107 is the feed guide seat, 108 is the branch box, 109 is the wire trough, 110 is the upper protection net, 111 is the discharge detection grating, 112 is the rotation positioning mechanism, 113 is the platform lower limit sensor, 114 is the tower lamp, 115 is the chain tensioning mechanism, and 116 is the lower limit support;

[0089] 2 is a lifting and conveying platform, 201 is a conveying drive mechanism, 202 is a platform frame, 203 is a sensor trigger rod, 204 is a lifting and guiding wheel group, 205 is a centering and aligning mechanism, 206 is a conveying roller line, 207 is an in-place sensor, 208 is a limit guide rod, 209 is a cylinder clamping mechanism, and 210 is an adjustable lifting seat;

[0090] 3 is a walking truss, 301 is a protective door, 302 is a truss main frame, 303 is a truss driving mechanism, 304 is a truss linear module, 305 is a drag chain, and 306 is a side protective cover;

[0091] 4 is a turning mechanism, 401 is a turning drive assembly, 402 is a drive assembly fixing plate, 403 is a positioning fork mechanism, 404 is a conveying drive mechanism, 405 is a conveying frame, 406 is an in-place limit block, 407 is a conveying mechanism, 408 is a material tray in-place sensor, 409 is a main frame limit rod, 410 is a driven rotating assembly, and 411 is a turning main frame;

[0092] 5 is an adaptive measuring device; 6 is a control cabinet; 7 is a material tray; 8 is an operating touch screen;

[0093] Fig.11 The overall flow chart of the control method of the present invention;

[0094] Fig.12 Flow chart of the tray destacking method of the present invention;

[0095] Fig.13 Flow chart of the cross-medium material level detection method of the present invention. DETAILED DESCRIPTION

[0096] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0097] like Figure 1 , which is a general schematic diagram of the automatic dumping device for high-temperature meat product tray stacks of the present invention, a high-temperature meat product tray stack automatic dumping system of the present invention comprises: a tray stack automatic dumping device 10 and a PLC control system 20, a tray layer detection system 30, a material level detection system 40, a drive system 50, a human-computer interaction system 60 and a cleaning tank 4001 arranged on the tray stack automatic dumping device 10;

[0098] The tray stack automatic dumping device 10 is used as an execution device of the high-temperature meat product tray stack automatic dumping system, and is used to receive the control command of the PLC control system 20 and perform corresponding movements according to the control command of the PLC control system 20;

[0099] The PLC control system 20 is used to receive the parameters required by the human-machine interaction system 50 to adjust the material tray stack automatic dumping device 10, and control it to perform corresponding movements, according to the material tray state fed back by the material tray layer detection system 30 and the material level state fed back by the material level detection system 40, and at the same time, adjust the torque and speed of the servo motor through the drive system 50 to achieve automatic control;

[0100] The tray layer detection system 30 is used to detect the number of tray layers and determine the number and position of the tray layers on the tray stack automatic dumping device 10, so as to determine the position and action execution status of the tray stack mixed with different specifications;

[0101] The material level detection system 40 is used to detect the material level of the material tray stack and determine the thickness of the material level that has been dumped across the medium to guide the operation of the automatic dumping device 10 of the material tray stack;

[0102] The drive system 50 is used for coordination between multiple motors. Through real-time communication and control algorithms, it coordinates multiple servo motors for precise movement and positioning. It is connected to the PLC control system 20 through a bus and adjusts the control strategy according to the actual movement state to ensure that the servo motors can accurately perform the predetermined movement tasks.

[0103] The human-computer interaction system 60 is used to send the setting device execution speed and brand information parameters to the PLC control system 20, and display the device information of the detection results and sensor status transmitted by the PLC control system 20;

[0104] The cleaning tank 4001 is arranged directly below the overturning mechanism 4 and is used to receive and pour high-temperature meat products.

[0105] like Figure 2, which is a schematic diagram of a PLC control system of the present invention. In the present invention, a PLC control system 20 comprises: a PLC 2001 and a servo motor limit and origin sensor 2002, an in-place detection sensor 2003, and a position detection sensor 2004 connected thereto;

[0106] The servo motor limit and origin sensor 2002 is a Hall sensor, which is used to obtain the maximum and minimum strokes of the motor and locate the starting position of the motor, and at the same time detect the servo motor origin positioning and overload limit, and feedback to the PLC control system 20;

[0107] There are multiple servo motor limit and origin sensors 2002, which are respectively arranged on the main frame 1 for stacking and unstacking corresponding to one side of the motor output end of the lifting drive motor 103 of the automatic dumping device 10 of the material tray stack, on the platform frame 202 corresponding to the drive output end of the conveying drive mechanism 201, and on the conveying frame 405 corresponding to the drive output end of the flip drive assembly 401;

[0108] The in-place detection sensor 2003 is a photoelectric sensor, which is used to locate and detect the position of the tray stack inside the equipment, and feeds back to the PLC control system 20 so that the drive system 50 controls the motor to act in coordination;

[0109] There are multiple in-place detection sensors 2003, which are respectively arranged on the main frame 1 for stacking and unstacking corresponding to the end side of the lifting drive shaft 102 of the automatic dumping device 10 of the material tray stack, on the platform frame 202 corresponding to the end of the conveying drive mechanism 201, and on the conveying frame 405 corresponding to the driving end of the flipping drive assembly 401;

[0110] The position detection sensor 2004 is a photoelectric sensor, which is used to locate and detect the position of the single-layer material tray inside the equipment, and to feed back the PLC control system 20 so that the drive system 40 can correct the action;

[0111] There are multiple position detection sensors 2004, which are respectively arranged on the sensor frame of the in-position sensor 207 of the lifting and conveying platform 2, the sensor frame of the in-position sensor 408 of the flipping and inverting mechanism 4, and the rotation positioning mechanism 112 of the disassembling and stacking main frame 1.

[0112] like Figure 3 , which is a schematic diagram of a tray layer detection system of the present invention, wherein the tray layer detection system 30 comprises: a photoelectric sensor group 3001, a position sensor group 3002 and a limit sensor group 3003;

[0113] The photoelectric sensor group 3001 is arranged on the main frame 1 of the palletizing and unpalletizing, and is used to obtain the information of the position of the material tray to be dumped, and send it to the control system 20;

[0114] The position sensor group 3002 is arranged on the main frame 1 of the palletizing and disassembling machine, and is used to obtain the position information of the lifting and conveying platform 2 and send it to the control system 20;

[0115] The limit sensor group 3003 is connected to the PLC2001 to obtain the height information of the lifting and conveying platform 2 and send it to the control system 20.

[0116] like Figure 4 , which is a schematic diagram of the material level detection system of the present invention;

[0117] The material level detection system 40 includes: an ultrasonic sensor group 4002 and a detection camera group 4003 connected to the PLC 2001;

[0118] The ultrasonic sensor group 4002 is arranged on the truss main frame 302, and the emission direction is toward the cleaning tank 4001, and is used to detect the material level information and send it to the PLC 2001;

[0119] The detection camera group 4003 is arranged on the truss linear module 304 of the walking truss 3, and the field of view is always directed toward the cleaning tank 4001, and is used to photograph the material level of the high-temperature meat products across the medium in the cleaning tank 4001 and send it to PLC2001.

[0120] like Figure 5 , which is a schematic diagram of the human-computer interaction system of the present invention; the human-computer interaction system 60 comprises: a structural box 6001 and a touch screen 6002, a start button 6003, a stop button 6004, a reset button 6005 and an emergency stop button 6006 arranged on the structural box 6001;

[0121] The touch screen 6002, the start button 6003, the stop button 6004, the reset button 6005 and the emergency stop button 6006 are respectively embedded on the side of the structure box;

[0122] The touch screen 6002 , the start button 6003 , the stop button 6004 , the reset button 6005 and the emergency stop button 6006 are connected to the PLC 2001 of the PLC control system 20 via a bus.

[0123] like Figure 6As shown, it is a three-dimensional structural schematic diagram of the automatic dumping device for material tray stacks. The present invention provides an automatic dumping device for material tray stacks, comprising: a lifting and conveying mechanism, a walking truss 3, a tray turning mechanism 4 and an adaptive measuring device 5 (i.e., a material level detection system 40 in the automatic dumping system for material tray stacks in the present invention), wherein the lifting and conveying mechanism comprises a depalletizing main frame 1 and a lifting and conveying platform 2 arranged in the depalletizing main frame 1, the depalletizing main frame 1 can drive the lifting and conveying platform 2 to lift, and the lifting and conveying platform 2 is used to horizontally convey the material tray 7; the walking truss 3 It is arranged on one side of the depalletizing and stacking main frame 1, and the flipping and inverting mechanism 4 is arranged on the walking truss 3. The walking truss 3 can drive the flipping and inverting mechanism 4 to move horizontally. The flipping and inverting mechanism 4 is used to drive the material tray 7 to flip and dump the material and the horizontal transportation of the material tray 7; the adaptive measuring device 5 is arranged on the walking truss 3, and is used to detect the height of the dumped material accumulation; the material tray 7 can be transported and fixed in the lifting and conveying platform 2 and the flipping and inverting mechanism 4. At the same time, with the cooperation of the depalletizing and stacking main frame 1 and the lifting and conveying platform 2, the automatic depalletizing of multi-layer material trays and the automatic stacking of single-layer material trays are realized.

[0124] Furthermore, if Figure 6 to Figure 7 As shown, the present invention further includes a control cabinet 6 and an operation touch screen 8, wherein the control cabinet 6 is arranged on one side of the lifting and conveying mechanism, and the operation touch screen 8 is fixed on a junction box 108 in the middle of the depalletizing and stacking main frame 1. In this embodiment, two sets of lifting and conveying mechanisms are arranged in parallel, and the depalletizing and stacking main frames 1 in the two sets of lifting and conveying mechanisms are connected by a cross brace.

[0125] like Figure 7As shown, in the embodiment of the present invention, the main frame 1 for disassembling and stacking includes a main frame 101, a lifting drive shaft 102, a lifting drive motor 103, a horizontal transmission chain mechanism 104 and a lifting transmission chain mechanism 105, wherein the main frame 101 is a cubic frame structure, and four groups of lifting transmission chain mechanisms 105 are respectively installed on the four columns of the cubic frame structure; there are two groups of horizontal transmission chain mechanisms 104, and they are arranged in parallel on the opposite sides of the bottom of the main frame 101; the lifting drive motor 103 is arranged at the bottom of the main frame 101, and the lifting drive motor 103 has a double output shaft, one side output shaft of the lifting drive motor 103 is connected to a group of horizontal transmission chain mechanisms 104, and the other side output end of the lifting drive motor 103 is connected to another group of horizontal transmission chain mechanisms 104 through the lifting drive shaft 102; specifically, one end of the lifting drive shaft 102 is connected to the output shaft of the lifting drive motor 103 through a coupling, and the other end is fixed to the mounting seat at the bottom of the main frame 101. The two ends of the two sets of horizontal transmission chain mechanisms 104 are respectively connected to the four sets of lifting transmission chain mechanisms 105; the lifting and conveying platform 2 is connected to the four sets of lifting transmission chain mechanisms 105, and the lifting drive motor 103 can drive the four sets of lifting transmission chain mechanisms 105 to lift and lower synchronously, thereby realizing the lifting and lowering of the lifting and conveying platform 2.

[0126] In an embodiment of the present invention, two sets of rotating positioning mechanisms 112 are provided on the middle crossbeams on both sides of the main frame 101, and the rotating positioning mechanisms 112 can rotate around the crossbeams; the two sets of rotating positioning mechanisms 112 extend out to clamp the second layer and above material trays 7 on the lifting and conveying platform 2, and the material trays 7 of the first layer are transported by the lifting and conveying platform 2 to the flipping mechanism 4, thereby completing the automatic destacking of the material trays 7.

[0127] Specifically, the rotary positioning mechanism 112 includes a cylinder seat, a positioning cylinder and a positioning plate. The cylinder seat is rotatably mounted on the middle crossbeam of the main frame 101 through a hinge shaft. The positioning cylinder is mounted on the cylinder seat, and the output end is connected to the positioning plate. The positioning cylinder drives the positioning plate to extend to clamp and fix the material tray 7. A torsion spring is provided on the hinge shaft, and the torsion spring keeps the positioning cylinder in a horizontal state. The floating installation of the cylinder seat prevents the lifting and conveying platform 2 from rising and causing deformation when the rotary positioning mechanism 112 fails to hold the material tray in place.

[0128] Furthermore, the feet are fixed at the four corners of the main frame 101, and two chain tensioning mechanisms 115 are provided on both sides of the bottom of the main frame 101, and the two chain tensioning mechanisms 115 respectively tension the chains of the two sets of horizontal transmission chain mechanisms 104; the bottom of the main frame 101 is provided with a lower limit support 116 for mechanically limiting the lifting and conveying platform 2 and a platform lower limit sensor 113 for detecting that the lifting and conveying platform 2 is in place; the middle part of the main frame 101 is provided with a safety grating 106 for safety precautions and a feed guide seat 107 for guiding the whole stack of material trays 7; the top of the main frame 101 is provided with an upper protective net 110 and a wire trough 109 and a tower lamp 114 located outside the upper protective net 110; the upper rear part of the main frame 101 is provided with a discharge detection grating 111 for detecting the entry and exit of the material tray 7.

[0129] Specifically, the lifting transmission chain mechanism 105 is installed on the upper and lower beams of the main frame 101, and cooperates with the sprocket of the horizontal transmission chain mechanism 104 at the bottom, and is directly fixed to the beam through a bracket plate at the top. The lifting drive motor 103 is activated, and the power is transmitted to the horizontal transmission chain mechanism 104 and the lifting transmission chain mechanism 105 through the lifting drive shaft 102, so that the lifting chain can be raised and lowered synchronously. The chain tensioning mechanism 115 is fixed to the outer side of the bottom end of the main frame 101, which is used for tensioning the chain of the horizontal transmission chain mechanism 104. The lower limit support 116 is fixed to the middle cross beam at the bottom of the main frame 101, which is used for mechanical limit of the lifting platform 2. The safety grating 106 is fixed to the middle part of the outer beam of the main frame 101 to prevent people from entering when the equipment is working, which plays a safety precaution role. The feeding guide seat 107 is also installed in the middle part of the outer beam of the main frame 101, fixed on the outer side of the safety grating 106, and guides the whole stack of material trays 7 entering the depalletizing and stacking to prevent tilting. The junction box 108 is fixed to the middle part of the side of the main frame 101 at a moderate height for easy maintenance and repair. The wire trough 109 is fixed to the outside of the upper beam of the main frame 101 for wiring and air pipes. The upper protective net 110 is fixed to the top of the main frame 101 for protection. The tower light 114 is fixed to the outside of the upper protective net 110. The discharge detection grating 111 is fixed to the upper middle position at the rear end of the main frame 101 for detecting the entry and exit of the material tray 7. The rotating positioning mechanism 112 is fixed to the middle crossbeam of the main frame 101 and can rotate around the crossbeam. The platform lower limit sensor 113 is fixed to the lower part of the crossbeam at the rear end of the main frame 101 for detecting the position of the lifting and conveying platform 2.

[0130] like Figure 8As shown, in the embodiment of the present invention, the lifting and conveying platform 2 includes a conveying drive mechanism 201, a platform frame 202, a lifting guide wheel group 204, a centering and aligning mechanism 205, a conveying roller line 206, an in-position sensor 207, a cylinder clamping mechanism 209 and an adjustable lifting seat 210, wherein the conveying drive mechanism 201 and the conveying roller line 206 are arranged on the platform frame 202, and the conveying drive mechanism 201 can drive the conveying roller line 206 to perform a conveying action; the platform frame 202 is fixed with lifting guide wheels in contact with the main frame 101 at the four corners. The platform frame 202 is equipped with a guide wheel group 204 and an adjustable lifting seat 210 for connecting with the lifting transmission chain mechanism 105. The platform frame 202 can be lifted up and down inside the main frame 101 through the lifting guide wheel group 204. During the lifting process, the lifting guide wheel group 204 guides and limits the front, back, left and right directions of the platform to ensure smooth lifting. The centering and alignment mechanism 205 is installed on both sides of the middle of the platform frame 202, and is used to center and align the material tray 7 on the conveying roller wheel line 206. Two groups of cylinder clamping mechanisms 209 for clamping the material tray 7 are provided at both ends of the platform frame 202.

[0131] Furthermore, the platform frame 202 is provided with a limit guide rod 208 located on both sides of the conveying roller line 206, and a wear-resistant strip is fixed on the inner side of the limit guide rod 208; both ends of the platform frame 202 are provided with an in-place sensor 207, and the in-place sensor 207 detects whether the material tray 7 is in place; the bottom of the platform frame 202 is provided with a sensor trigger rod 203, which is used to trigger the platform lower limit trigger sensor 113 on the lifting and conveying platform 2.

[0132] Specifically, the centering and alignment mechanism 205 includes a cylinder and an alignment plate connected to the output end of the cylinder. The cylinder moves the alignment plate to center and align the tray 7, which is convenient for positioning when stacking the upper and lower trays 7; the conveying roller line 206 is fixed in the channel steel of the platform frame 202 at a certain interval, and under the action of the conveying drive mechanism 201, the tray 7 is conveyed forward or backward. The limiting guide rod 208 is installed on both sides of the conveying roller line 206, and the inner side of the guide 208 rod is fixed with a wear-resistant strip to reduce friction resistance and play a guiding and limiting role. A pair of in-position sensors 207 are fixed on the platform frame 202, one at the front and one at the back, and are mainly used to detect the tray 7, and then the conveying roller line 206 is conveyed and in position on the lifting and conveying platform 2. The cylinder clamping mechanism 209 is installed on the front and rear sides of the platform frame 202, and on the inner side of the conveying roller line 206, with two groups in the front and two groups in the back; when the material tray 7 is detected, the two groups of cylinder clamping mechanisms 209 in the front are opened; when the material tray 7 is in place, the two groups of cylinder clamping mechanisms 209 in the back are opened, and the front and rear cylinder clamping mechanisms 209 clamp the material tray tightly in the center position, and cooperate with the centering and aligning mechanism 205 to effectively dismantle and stack the material tray 7. The adjustable lifting seat 210 is fixed at the four corners of the platform frame 202 in a fixed position in the middle, and there is a group of adjustable screws at the top and bottom. The screw terminals are fixed to the upper and lower ends of the chain of the lifting transmission chain mechanism 105 through pins to form a closed loop, and the lifting and conveying platform 2 can be transported up and down with the lifting transmission chain mechanism 105.

[0133] like Fig. 9 As shown, in an embodiment of the present invention, the walking truss 3 includes a truss main frame 302, a truss driving mechanism 303 and a truss linear module 304, wherein the truss driving mechanism 303 and the truss linear module 304 are arranged on the top of the truss main frame 302, the truss driving mechanism 303 is connected to the truss linear module 304, and the truss driving mechanism 303 can drive the truss linear module 304 to output power in the horizontal direction.

[0134] Specifically, the truss main frame 302 is a frame formed by multiple groups of horizontal beams and vertical beams spliced ​​into a frame by screws, and the vertical beams at both ends are fixed to the disassembly and stacking main frame 1 by four L-shaped brackets. The protective door 301 is installed on the left and right sides of the truss main frame 302 and the left or right side of the front middle and lower position. The protective doors 301 on both sides are fully open, which is convenient for maintenance and repair when problems occur. The front protective door 301 is mainly used for equipment cleaning and cleaning. Two groups of truss linear modules 304 are installed on the two horizontal beams at the upper end of the truss main frame 302. The bottom of the truss linear module 304 has an adjustment mounting plate with the horizontal beam, which is used to adjust the level of the truss linear module 304. The two driving wheels at the front end of the truss linear module 304 are connected by a transition shaft to ensure the synchronization of the drive. The truss drive mechanism 303 is fixed to the side of the front end of the truss linear module 304, and is connected to the reducer of the truss drive mechanism 303 through a flange in the middle. The drive shaft of the truss drive mechanism 303 is connected to the drive shaft of the truss linear module 304 through a coupling, which ensures the effectiveness of power transmission. One end of the drag chain 305 is fixed to the side of the truss drive mechanism 303, and the other end is fixed to the top of the crossbeam of the flipping plate main frame 411 of the flipping plate mechanism 4, which is convenient for wiring and air pipes. The side protective cover 306 is fixed to the upper middle position of the front end of the truss main frame 302 to prevent human injury caused by accidental entry during equipment operation. The adaptive measuring device 5 is fixed to the middle crossbeam of the truss main frame 302 through an installation bracket to detect the height of the material in real time. When the critical point is reached, the signal is transmitted to the equipment control system to complete the equipment flipping or suspend operation.

[0135] like Fig.10 As shown, in the embodiment of the present invention, the flipping mechanism 4 includes a flipping drive assembly 401, a positioning fork mechanism 403, a conveying drive mechanism 404, a conveying frame 405, a conveying mechanism 407, a driven rotating assembly 410 and a flipping main frame 411, wherein the top of the flipping main frame 411 is connected to the output end of the truss linear module 304, the flipping drive assembly 401 and the driven rotating assembly 410 are coaxially installed on both sides of the bottom of the flipping main frame 411, and the conveying frame 405 is connected to the flipping drive assembly 401 and the driven rotating assembly 410, the flipping drive assembly 401 drives the conveying frame 405 to flip; the conveying drive mechanism 404 and the conveying mechanism 407 are arranged on the conveying frame 405, the conveying drive mechanism 404 is used to drive the conveying mechanism 407 to perform conveying action, and the conveying mechanism 407 is consistent with the horizontal conveying direction of the lifting conveying platform 2; the conveying frame 405 is provided with a positioning fork-picking mechanism 403 located on both sides of the conveying mechanism 407, and the positioning fork-picking mechanism 403 is used to position and fix the material tray 7.

[0136] Furthermore, tray in-place sensors 408 for detecting the in-place status of the tray 7 are provided on both sides of the front end of the conveying mechanism 407; a limit block 406 for mechanical limiting is provided at the front end of the conveying frame 405; main frame limit rods 409 are provided on both sides of the flipping tray main frame 411, and the main frame limit rods 409 are used to trigger the travel switch provided on the truss main frame 302.

[0137] Specifically, the flip drive assembly 401 and the driven rotating assembly 410 are fixed on the driving assembly fixing plate 402 through a flange seat, and the two mounting shafts are ensured to be concentric. The driving assembly fixing plate 402 is fixed to the lower sides of the flip tray main frame 411 and is locked by screws. The four corners of the upper frame of the flip tray main frame 411 are welded with mounting plates, which are respectively installed corresponding to the four sliders of the truss linear module 304, and the overall flip tray mechanism 4 can move smoothly on the walking truss 3. The two sides of the conveying frame 405 are fixed to the ends of the flip drive assembly 401 and the driven rotating assembly 410, and can rotate around the center. The conveying mechanism 407 is fixed to the left and right ends of the conveying frame 405, and the conveying drive mechanism 404 passes through the front end of the conveying mechanism 407 and is fixed to the right side of the conveying frame 405, and the material tray 7 can move forward or backward on the conveying mechanism 407. In this embodiment, the conveying mechanism 407 is a chain conveyor. The material tray arrival sensor 408 is installed on both sides of the front end of the conveying mechanism 407 to detect the arrival status of the material tray 7. The positioning fork mechanism 403 is installed on the left and right ends of the conveying mechanism 407, just above the drive assembly 401. The arrival limit block 406 is fixed at the front middle of the conveying frame 405. The two cooperate to ensure that the material tray 7 is firmly fixed and does not fall when the tray is flipped. The main frame limit rod 409 is fixed in the middle of the four vertical beams of the flipping main frame 411. It is mainly used to trigger the travel switch fixed on the truss main frame 302 when the limit sensor of the truss linear module 304 fails, thereby playing a secondary limit role to prevent the equipment from causing more serious failures due to sensor failure.

[0138] like Figure 6 As shown, in the embodiment of the present invention, the control cabinet 6 is installed on the side of the main frame 101 of the depalletizing and stacking main frame 1, and is used to provide power cables for the depalletizing and stacking main frame 1, the walking truss 3, and the flipping and inverting mechanism 4; the material tray 7 can be effectively transported on the conveying roller line 206 of the lifting and conveying platform 2 and the conveying mechanism 407 of the flipping and inverting mechanism 4, and at the same time, with the cooperation of the depalletizing and stacking main frame 1 and the lifting and conveying platform 2, the automatic depalletizing of multi-layer material trays 7 and the automatic stacking of single-layer material trays 7 are realized; the operation touch screen 8 is fixed on the distribution box 108 of the main frame 101, which is consistent with the human operating height, so as to facilitate personnel operation.

[0139] The working principle of the automatic dumping device of the device is:

[0140] After the conveyor belt of the previous process automatically transports the whole stack of trays to the lifting and conveying platform 2 inside the main frame 1 for depalletizing and stacking. When approaching the main frame 1 for depalletizing and stacking, the tilted tray 7 will be automatically guided to the center under the action of the feeding guide seat 107; when the tray 7 triggers the sensor at the entrance of the lifting and conveying platform, the front two groups of cylinder clamping mechanisms 209 open, the conveying roller line 206 runs, and the tray 7 is transported smoothly; when the in-place sensor 207 is triggered, the conveying roller line 206 stops running, and the rear two groups of cylinder clamping mechanisms 209 open to clamp the tray 7 on the lifting and conveying platform 2. Under the action of the lifting drive motor 103, the lifting and conveying platform 2 slowly rises to the specified position, and the cylinder of the rotating positioning mechanism 112 extends to clamp the second layer and above trays in the air, and the first layer of trays is transported to the conveyor belt of the flipping mechanism 4 on the walking truss 3, completing the automatic depalletizing of the tray 7. According to the actual use on site, the position of the flipping tray can be adjusted appropriately. Under the joint action of the positioning fork mechanism 403 and the in-place limit block 406, the platform flips the tray without falling, and the material in the tray can be dumped. The flipping tray adopts a double-station design, and the same flipping work can be performed on the upper and lower sides, which greatly improves the production efficiency of the equipment. The adaptive measuring device 5 installed on the truss main frame 302 can detect the height of the dumped material in real time; when the material reaches the specified height, the equipment stops dumping the material, and the dumped tray is then transported to the lifting and conveying platform 2 through the conveying mechanism 407 of the flipping tray mechanism 4. Like the destacking principle, the tray is stacked layer by layer under the joint action of the front and rear cylinder clamping mechanisms and the centering and alignment mechanisms, and finally the whole stack of trays is transported to the next station conveyor belt, finally realizing the automatic transportation, destacking, flipping, stacking and output of the tray.

[0141] like Fig.11 As shown in the figure, it is a flow chart of the method of the present invention, a control method of a high-temperature meat product tray stack automatic dumping system of the present invention comprises the following steps:

[0142] 1) PLC2001 controls the lifting and conveying platform 2 and the turning and reversing mechanism 4 to return to zero; the servo motor limit and origin sensor 2002 obtains the return to zero position of the conveying drive mechanism 201 and the turning drive assembly 401 and feeds it back to PLC2001;

[0143] 2) Before starting the equipment, input the specification information and stacking information of the tray through the human-computer interaction system 50;

[0144] 3) The tray stack enters the lifting and conveying platform 2, and the position is detected by the in-place detection sensor 2003, and then the tray is disassembled into single-layer trays by the tray destacking method, waiting to enter the flipping mechanism 4;

[0145] 4) Obtain the material level thickness of the material tray stack in the cleaning tank 4001 through the cross-medium material level detection method;

[0146] 5) Real-time monitoring of the thickness of the material tray stack is performed. By analyzing the curve change rate, if the thickness has a decreasing trend, the overturning mechanism 4 is controlled to go to the receiving position, and the single-layer material tray is sent into the overturning mechanism 4. The state of the material tray is detected by the position detection sensor 2004;

[0147] 6) After the single-layer tray is fed into the tray flipping mechanism 4, step 3) is performed again to destacking;

[0148] 7) The material receiving position of the turning tray mechanism 4 is located above the cleaning tank 4001. After the high-temperature meat product is turned over and poured out, a new single-layer material tray is immediately fed in, and step 5) is performed again. At this time, the empty material tray is at the bottom of the turning tray mechanism 4;

[0149] 8) Move the tray flipping mechanism 4 to the empty tray feeding position, and stack the upper empty trays in the reverse process of step 3); flip the empty trays on the bottom platform to the upper layer, and then stack them in the reverse process of step 3), finally forming a stack of empty trays;

[0150] 9) When the entire stack of material trays is dumped, the lifting and conveying platform 2 descends back to the original point and waits for a new stack of material trays to enter.

[0151] like Fig.12 As shown, it is a flow chart of the method of destacking the material tray of the present invention. The present invention is divided into two judgment modes for control, which are as follows:

[0152] The trays are destacking into single-layer trays by the tray destacking method, and the height specifications of the trays are determined. If the height specifications of the trays are uniform, the following steps are included:

[0153] 1-1) The human-machine interaction system 50 obtains the thickness H of the material tray, the number of layers N, the height of the outlet position and the distance H between the origin of the conveying drive mechanism 201 m , the distance between the cylinder clamping mechanism 209 and the origin of the lifting platform 2 is H n ; and send the collected parameter data to PLC2001;

[0154] 1-2) PLC2001 obtains the rising height of the lifting and conveying platform 2 according to the collected parameter data: H m -H;

[0155] 1-3) The cylinder clamping mechanism 209 clamps the tray stack and controls the lifting and conveying platform 2 to descend to the exit position, that is, the descending distance is: H m -H n -H, so that the single-layer material tray is separated and enters the tray turning mechanism 4;

[0156] 1-4) Control the lifting and conveying platform 2 to rise H m -Hn , the cylinder clamping mechanism 209 releases the stack of trays, the lifting and conveying platform 2 drops by H, the cylinder clamping mechanism 209 re-clamps the stack of trays, and the lifting and conveying platform 2 drops by 2H, so that the single-layer tray is detached;

[0157] 1-6) Execute steps 1-4) repeatedly until the stack of trays is emptied and the lifting and conveying platform 2 returns to the origin.

[0158] In the step 3), the trays are destacking into single-layer trays by a tray destacking method, and the height specifications of the trays are determined. If the height specifications of the trays are not uniform, the following steps are included:

[0159] 2-1) The thickness of the tray stack is set to three specifications, namely H1, H2, and H3, then:

[0160] 2-2) The human-machine interaction system 50 can obtain the number of tray layers N, the distance between the outlet position height and the origin of the lifting and conveying platform 2 is H m The distance between the flipping mechanism 4 and the origin of the lifting and conveying platform 2 is H n ;

[0161] 2-3) Lifting height of the lifting and conveying platform 2 H m -max{H1,H2,H3};

[0162] 2-4) The lifting and conveying platform 2 rises slowly, and the photoelectric sensor group 3001 assists in detecting the thickness of the material tray. After the photoelectric sensor group 3001 is triggered, the detected thickness of the material tray is sent to PLC2001, and PLC2001 compares the detected thickness of the material tray with {H1, H2, H3} to obtain the thickness H of the material tray. x , and H x within{H1, H2, H3}, and control the lifting and conveying platform 2 to stop rising;

[0163] 2-5) The cylinder clamping mechanism 209 clamps the tray stack and controls the lifting and conveying platform 2 to descend a distance H m -H n -H x , so that the single-layer material tray is separated and enters the overturning mechanism 4;

[0164] 2-6) Lifting height of lifting conveying platform 2 H m -H n +min{H1, H2, H3}; the lifting and conveying platform 2 rises slowly, and the photoelectric sensor group 3001 assists in detecting the thickness of the material tray. After the photoelectric sensor group 3001 is triggered, the detected material tray thickness is sent to PLC2001, and PLC2001 compares the detected material tray thickness with {H1, H2, H3} to obtain the material tray thickness H x , and Hx within{H1, H2, H3}, and stops rising;

[0165] 2-7) The cylinder clamping mechanism 209 releases the stack of trays, and the lifting and conveying platform 2 descends. The thickness Hx of the trays measured in step 6) is measured, and the cylinder clamping mechanism 209 re-clamps the stack of trays, and the lifting and conveying platform 2 descends. m -H n -H x , so that the single-layer material tray can be separated;

[0166] 2-8) Repeat steps 2-4) to 2-7) until the stack of trays is emptied and the lifting and conveying platform 2 returns to the origin.

[0167] like Fig.13 As shown, it is a schematic diagram of the principle of the cross-medium material level detection method of the present invention. The material level thickness in the cleaning tank 4001 is obtained by the cross-medium material level detection method, which includes the following steps:

[0168] 3-1) The ultrasonic sensor group 4002 detects the material thickness on the water surface and sends it to the PLC 2001. The PLC 2001 divides the water surface of the cleaning tank 4001 into areas to form a material thickness group X;

[0169] 3-2) The detection camera group 4003 detects the material status on the water surface and sends it to PLC2001. Through the same area divided in step 3-1), the material distribution in the area is determined to form a material plane distribution group Y;

[0170] 3-3) Perform data fitting on material thickness groups X and Y to obtain material distribution in the cleaning tank 4001 area.

[0171] The present invention provides an automatic dumping device, system and control method for high-temperature meat product tray stacks, which can realize automatic loading and unloading of trays, unstacking, flipping, conveying, adaptive measurement, etc., greatly improving work efficiency, reducing labor intensity, and effectively saving work time. Through the fusion of ultrasonic and visual detection, cross-media detection of material level in the cleaning tank is realized, providing closed-loop support for automatic control; through the cooperation of photoelectric and position sensors, the position detection of mixed specification tray stacks is completed, thereby realizing mixed specifications; through the fusion of ultrasonic and visual detection methods, cross-media detection of material level in the cleaning tank is realized, providing closed-loop support for automatic control;

[0172] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An automatic dumping system for high-temperature meat product trays, characterized in that: include: A material tray stack automatic dumping device (10), and a PLC control system (20), a material tray layer detection system (30), a material level detection system (40), a drive system (50), a human-machine interaction system (60), and a cleaning tank (4001) arranged on the material tray stack automatic dumping device (10); The material tray stack automatic dumping device (10) is used as an execution device of the high-temperature meat product material tray stack automatic dumping system, and is used to receive a control command from a PLC control system (20) and execute corresponding movements according to the control command from the PLC control system (20); The PLC control system (20) is used to receive parameters required by the human-machine interaction system (50) to adjust the material tray stack automatic dumping device (10), and control it to perform corresponding movements, according to the material tray state fed back by the material tray layer detection system (30) and the material level state fed back by the material level detection system (40), and at the same time, adjust the torque and speed of the servo motor through the drive system (50) to achieve automatic control; The tray layer detection system (30) is used to detect the number of tray layers and determine the number and position of the tray layers on the tray stack automatic dumping device (10), so as to determine the position and action execution status of the tray stack mixed with different specifications; The material level detection system (40) is used to detect the material level of the material tray stack and simultaneously determine the thickness of the material level that has been dumped across the medium, so as to guide the operation and execution of the automatic dumping device (10) for the material tray stack; The drive system (50) is used for coordination between multiple motors, and cooperates with multiple servo motors to perform precise movement and positioning through real-time communication and control algorithms, and is connected to the PLC control system (20) through a bus, and the control strategy is adjusted according to the actual movement state to ensure that the servo motors can accurately perform the predetermined movement tasks; The human-machine interaction system (60) is used to send the setting device execution speed and brand information parameters to the PLC control system (20), and at the same time display the device information of the detection result and sensor status transmitted by the PLC control system (20); The cleaning pool (4001) is arranged directly below the overturning mechanism (4) and is used to receive and pour high-temperature meat products.

2. The automatic dumping system for high-temperature meat product trays according to claim 1 is characterized in that: The automatic dumping device (10) for stacking material trays comprises: a lifting and conveying mechanism, a walking truss (3), a tray flipping mechanism (4) and an adaptive measuring device (5); The lifting and conveying mechanism comprises a main frame (1) for stacking and dismantling and a lifting and conveying platform (2) arranged in the main frame (1) for stacking and dismantling, the main frame (1) for stacking and dismantling can drive the lifting and conveying platform (2) to be lifted and lowered, and the lifting and conveying platform (2) is used to horizontally convey the material tray (7); a walking truss (3) is arranged on one side of the main frame (1) for stacking and dismantling, a tray turning mechanism (4) is arranged on the walking truss (3), the walking truss (3) can drive the tray turning mechanism (4) to move horizontally, and the tray turning mechanism (4) is used to drive the material tray (7) to turn over and dump materials and transport the material tray (7) horizontally; a material level detection system (40) is arranged on the walking truss (3) and is used to detect the height of the dumped materials.

3. The automatic dumping system for high-temperature meat product trays according to claim 1 is characterized in that: The PLC control system (20) comprises: a PLC (2001) and a servo motor limit and origin sensor (2002), an in-position detection sensor (2003), and a position detection sensor (2004) connected thereto; The servo motor limit and origin sensor (2002) is a Hall sensor, which is used to obtain the maximum and minimum strokes of the motor and locate the starting position of the motor, and simultaneously detect the servo motor origin positioning and overload limit, and provide feedback to the PLC control system (20); There are a plurality of servo motor limit and origin sensors (2002), which are respectively arranged on the palletizing main frame (1) corresponding to one side of the motor output end of the lifting drive motor (103) of the automatic dumping device (10), on the platform frame (202) corresponding to the drive output end of the conveying drive mechanism (201), and on the conveying frame (405) corresponding to the drive output end of the flipping drive assembly (401); The in-position detection sensor (2003) is a photoelectric sensor, which is used to locate and detect the position of the material tray stack inside the equipment, and to feed back the PLC control system (20) so that the drive system (50) controls the motor to act in coordination; There are a plurality of in-place detection sensors (2003), which are respectively arranged on the main frame (1) for stacking and unstacking corresponding to the end side of the lifting drive shaft (102) of the automatic dumping device (10) for stacking material trays, on the platform frame (202) corresponding to the end of the conveying drive mechanism (201), and on the conveying frame (405) corresponding to the driving end of the flipping drive assembly (401); The position detection sensor (2004) is a photoelectric sensor, which is used to locate and detect the position of the single-layer material tray inside the equipment, and to feed back the PLC control system (20) so that the drive system (40) can correct the action; There are multiple position detection sensors (2004), which are respectively arranged on the sensor frame of the in-position sensor (207) of the lifting and conveying platform (2), the sensor frame of the in-position sensor (408) of the flipping and inverting mechanism (4), and the rotation positioning mechanism (112) of the disassembling and stacking main frame (1).

4. The automatic dumping system for high-temperature meat product trays according to claim 1 is characterized in that: The tray layer detection system (30) comprises: a photoelectric sensor group (3001), a position sensor group (3002) and a limit sensor group (3003); The photoelectric sensor group (3001) is arranged on the main frame (1) for stacking and unstacking, and is used to obtain information about the position of the material tray to be dumped, and send it to the control system (20); The position sensor group (3002) is arranged on the main frame (1) for stacking and disassembling, and is used to obtain the position information of the lifting and conveying platform (2) and send it to the control system (20); The limit sensor group (3003) is connected to the PLC (2001) and is used to obtain the height information of the lifting and conveying platform (2) and send it to the control system (20).

5. The automatic dumping system for high-temperature meat product trays according to claim 1, characterized in that: The material level detection system (40) comprises: an ultrasonic sensor group (4002) and a detection camera group (4003) connected to the PLC (2001); The ultrasonic sensor group (4002) is arranged on the truss main frame (302) and the emission direction is toward the cleaning tank (4001), and is used to detect material level information and send it to the PLC (2001); The detection camera group (4003) is arranged on the truss linear module (304) of the walking truss (3), and the field of view is always directed toward the cleaning tank (4001), and is used to photograph the material level of the high-temperature meat products across the medium in the cleaning tank (4001) and send it to the PLC (2001).

6. The automatic dumping system for high-temperature meat product trays according to claim 1, characterized in that: The human-machine interaction system (60) comprises: a structural box (6001), and a touch screen (6002), a start button (6003), a stop button (6004), a reset button (6005), and an emergency stop button (6006) arranged on the structural box (6001); The touch screen (6002), the start button (6003), the stop button (6004), the reset button (6005) and the emergency stop button (6006) are respectively embedded on the side of the structural box; The touch screen (6002), the start button (6003), the stop button (6004), the reset button (6005) and the emergency stop button (6006) are connected to the PLC (2001) of the PLC control system (20) via a bus.

7. The control method of the automatic dumping system of the high-temperature meat product tray stack according to claim 1 is characterized in that: The following steps are involved: 1) The PLC (2001) controls the zero return movement of the lifting conveying platform (2) and the flipping plate mechanism (4); the zero return position of the conveying drive mechanism (201) and the flipping drive assembly (401) is obtained through the servo motor limit and origin sensor (2002) and fed back to the PLC (2001); 2) Before starting the equipment, input the specification information and stacking information of the material tray through the human-computer interaction system (50); 3) The stack of trays enters the lifting and conveying platform (2), and the position is detected by the in-position detection sensor (2003), and then the trays are disassembled into single-layer trays by the tray disassembly method, waiting to enter the tray flipping mechanism (4); 4) Obtaining the material level thickness of the material tray stack in the cleaning tank (4001) by a cross-medium material level detection method; 5) Real-time monitoring of the thickness of the material tray stack detected, and by analyzing the curve change rate, if the thickness has a decreasing trend, the turning and flipping mechanism (4) is controlled to move to the material receiving position, and the single-layer material tray is sent into the turning and flipping mechanism (4), and the state of the material tray is detected by the position detection sensor (2004); 6) After the single-layer tray is fed into the tray flipping mechanism (4), step 3) is repeated to destacking; 7) The material receiving position of the turning plate mechanism (4) is located above the cleaning tank (4001). After the high-temperature meat product is turned over and poured out, a new single-layer material plate is immediately fed in, and step 5) is performed again. At this time, the empty material plate is at the bottom of the turning plate mechanism (4); 8) moving the tray flipping mechanism (4) to the empty tray feeding position, and stacking the upper empty trays in the reverse process of step 3); flipping the empty trays on the bottom platform to the upper layer, and stacking them in the reverse process of step 3), finally forming a stack of empty trays; 9) When the entire stack of material trays is dumped, the lifting and conveying platform (2) descends back to the original point and waits for a new stack of material trays to enter.

8. The control method of the automatic dumping system of the high-temperature meat product tray stack according to claim 7 is characterized in that: In the step 3), the trays are destacking into single-layer trays by a tray destacking method, and the height specifications of the trays are determined. If the height specifications of the trays are uniform, the following steps are included: 1-1) The human-machine interaction system (50) obtains the thickness H of the material tray, the number of layers N, the height of the outlet position and the distance H between the origin of the conveying drive mechanism (201) m The distance between the cylinder clamping mechanism (209) and the origin of the ascending platform (2) is H n ; and send the collected parameter data to PLC (2001); 1-2) PLC (2001) obtains the rising height of the lifting and conveying platform (2) based on the collected parameter data: H m -H; 1-3) The cylinder clamping mechanism (209) clamps the tray stack and controls the lifting and conveying platform (2) to descend to the exit position, that is, the descending distance is: H m -H n -H, so that the single-layer material tray can be separated and enter the tray turning mechanism (4); 1-4) Control the lifting and conveying platform (2) to rise H m -H n , the cylinder clamping mechanism (209) releases the stack of material trays, the lifting and conveying platform (2) descends by H, the cylinder clamping mechanism (209) re-clamps the stack of material trays, and the lifting and conveying platform (2) descends by 2H, so that the single-layer material tray is detached; 1-6) Circulate steps 1-4) until the stack of trays is emptied and the lifting and conveying platform (2) returns to the original point.

9. The control method of the automatic dumping system of the high-temperature meat product tray stack according to claim 7, characterized in that: In the step 3), the trays are destacking into single-layer trays by a tray destacking method, and the height specifications of the trays are determined. If the height specifications of the trays are not uniform, the following steps are included: 2-1) The thickness of the tray stack is set to three specifications, namely H1, H2, and H3, then: 2-2) The human-machine interaction system (50) can obtain the number of tray layers N, the distance between the outlet position height and the origin of the lifting and conveying platform (2) is H m The distance between the turning plate mechanism (4) and the origin of the lifting and conveying platform (2) is H n ; 2-3) Lifting conveying platform (2) rising height H m -max{H1,H2,H3}; 2-4) The lifting and conveying platform (2) rises slowly, and the photoelectric sensor group (3001) assists in detecting the thickness of the material tray. After the photoelectric sensor group (3001) is triggered, the detected thickness of the material tray is sent to the PLC (2001), and the PLC (2001) compares the detected thickness of the material tray with {H1, H2, H3} to obtain the thickness H of the material tray. x , and H x within{H1, H2, H3}, and control the lifting and conveying platform (2) to stop rising; 2-5) The cylinder clamping mechanism (209) clamps the tray stack and controls the lifting and conveying platform (2) to descend a distance H. m -H n -H x , so that the single-layer material tray is separated and enters the tray turning mechanism (4); 2-6) When the lifting and conveying platform (2) rises to a height of Hm-Hn+min{H1, H2, H3}; the lifting and conveying platform (2) rises slowly, and the photoelectric sensor group (3001) assists in detecting the thickness of the material tray. After the photoelectric sensor group (3001) is triggered, the detected thickness of the material tray is sent to the PLC (2001), and the PLC (2001) compares the detected thickness of the material tray with {H1, H2, H3} to obtain the thickness H of the material tray. x , and H x within{H1, H2, H3}, and stops rising; 2-7) The cylinder clamping mechanism (209) releases the stack of trays, and the lifting and conveying platform (2) descends. The thickness Hx of the trays measured in step 6) is measured, and the cylinder clamping mechanism (209) re-clamps the stack of trays, and the lifting and conveying platform (2) descends H. m -H n -H x , so that the single-layer material tray can be separated; 2-8) Repeat steps 2-4) to 2-7) until the stack of trays is emptied and the lifting and conveying platform (2) returns to the original point.

10. The control method of the automatic dumping system of the high-temperature meat product tray stack according to claim 1, characterized in that: In step 4), the material level thickness in the cleaning tank (4001) is obtained by a cross-medium material level detection method, comprising the following steps: 3-1) The ultrasonic sensor group (4002) detects the material thickness on the water surface and sends it to the PLC (2001). The PLC (2001) divides the water surface of the cleaning tank (4001) into areas to form a material thickness group X; 3-2) The detection camera group (4003) detects the material status on the water surface and sends it to the PLC (2001), and through the same area divided in step 3-1), determines the material distribution in the area to form a material plane distribution group Y; 3-3) Perform data fitting on material thickness groups X and Y to obtain material distribution in the cleaning tank (4001).

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