An automatic tilting system and control method for high-temperature meat product trays

Abstract

This invention relates to process production machinery testing equipment, specifically an automatic tilting system and control method for high-temperature meat product trays. The system is mounted on an automatic tray tilting device. The control system includes: a PLC control system, a tray layer detection system, a material level detection system, a drive system, and a human-machine interface system. The automatic tray tilting device receives control commands from the PLC control system and executes corresponding movements. The PLC control system receives instruction parameters from the human-machine interface system, collects sensor information, and judges the operating status based on feedback information from the tray layer detection system and the material level detection system. It then adjusts the coordination of the drive system to achieve automatic operation of the process. This invention uses a combination of visual, ultrasonic, mechanical, and non-contact sensors to determine the number of tray layers and the tilted material level, adjusting the tilting process cycle. This solves problems such as cross-medium detection, inaccurate tray layer determination, and high labor intensity in manual processes, achieving automated process control.

Description

Technical Field

[0001] This invention relates to process production machinery testing equipment, specifically an automatic tilting system and control method for high-temperature meat product trays. Background Technology

[0002] High-temperature processed meat products are widely available in the market and are favored for their convenient storage and consumption. Their production process is mature; raw materials are cooked at high temperatures, then undergo washing, drying, and other processes before being packaged and sold nationwide. The washing process mainly uses soaking to remove impurities and residues from the surface of the products, which are then transferred to a drying belt via a vibrating screen for drying. In traditional processes, semi-finished raw materials are placed in trays, stacked into neat piles, and then placed in the cooking process. After cooling, the trays are manually removed (usually requiring two people, which is labor-intensive) and poured into a washing tank. This process is inefficient, labor-intensive, and cannot achieve automated integration of upstream and downstream processes, seriously affecting enterprise efficiency and intelligent production levels.

[0003] There are numerous methods for disassembling multi-layer pallets. A technology suitable for both pallet unpacking and uniform material pouring into the washing tank needs to be selected for automated control. However, in actual production, due to technological iterations and cost considerations, pallet stacks of various sizes are sometimes mixed. Therefore, a detection and control method is needed to distinguish between different pallet sizes. Furthermore, the downstream drying process is not continuous, so automated control also requires a detection method to determine the material level in the washing tank to ensure the fully automated closed-loop operation of the high-temperature meat product pallet automatic pouring system. Summary of the Invention

[0004] The purpose of this invention is to provide a fully automated, highly intelligent, and highly efficient automatic tilting system and control method for high-temperature meat product trays, which is controlled by the coordinated cooperation of ultrasound, vision, non-contact sensors, drive, and mechanics, in order to overcome the defects of the aforementioned equipment in the industry.

[0005] The purpose of this invention is to provide an automatic tilting system and control method for high-temperature meat product trays. The system uses photoelectric and position sensors, combined with stacking and disassembling technology for multi-layer trays, to disassemble the tray stacks. It uses vision and ultrasonic technology to obtain material level information in the washing tank, and combines this with a rotary overturning control method to tilt the material, thereby achieving automated operation of the process.

[0006] The technical solution adopted by the present invention to achieve the above objectives is: an automatic tilting system for high-temperature meat product pallets, comprising: an automatic tilting device for pallets, and a PLC control system, a pallet layer detection system, a material level detection system, a drive system, a human-machine interaction system, and a cleaning tank installed on the automatic tilting device for pallets.

[0007] The automatic tilting device for the material tray stack serves as the execution equipment of the automatic tilting system for high-temperature meat product material tray stacks. It is used to receive control commands from the PLC control system and execute 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 tilting device of the pallet stack, and control it to perform corresponding movements. Based on the pallet status fed back by the pallet layer detection system and the material level status fed back by the material level detection system, the system also adjusts the torque and speed of the servo motor through the drive system to achieve automated control.

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

[0010] The material level detection system is used to detect the material level of the pallet stack and simultaneously determine the thickness of the material level that has been poured across the medium, so as to guide the automatic tilting device of the pallet stack to perform its operation.

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

[0012] The human-machine interaction system is used to send the execution speed and brand information parameters of the setting device to the PLC control system, and at the same time display the device information such as the detection results and sensor status transmitted by the PLC control system.

[0013] The washing tank is located directly below the tilting and turning mechanism and is used to receive and pour high-temperature meat products.

[0014] The automatic tilting device for the pallet stack includes: a lifting and conveying mechanism, a traveling truss, a tilting and tilting mechanism, and an adaptive measuring device;

[0015] The lifting and conveying mechanism includes a main frame for destacking and palletizing and a lifting and conveying platform installed within the main frame. The main frame can drive the lifting and conveying platform to move up and down, and the lifting and conveying platform is used for horizontal conveying of the material trays. A traveling truss is installed on one side of the main frame, and a tilting and turning mechanism is installed on the traveling truss. The traveling truss can drive the tilting and turning mechanism to move horizontally, and the tilting and turning mechanism is used to drive the material trays to tilt and pour materials and to horizontally convey the material trays. A material level detection system is installed on the traveling truss to detect the height of the piled-up material.

[0016] The PLC control system includes: a PLC and servo motor limit and origin sensors, position detection sensors, and location detection sensors connected to it.

[0017] The servo motor limit and origin sensors are Hall sensors, used to obtain the maximum and minimum stroke of the motor and to locate the starting position of the motor. They also detect the servo motor origin positioning and overload limit, and feed the results back to the PLC control system.

[0018] There are multiple servo motor limit and origin sensors, which are respectively installed on the main frame of the unpacking and stacking device corresponding to the output end of the lifting drive motor, on the platform frame corresponding to the output end of the conveying drive mechanism, and on the conveying frame corresponding to the output end of the flipping drive assembly.

[0019] The positioning detection sensor is a photoelectric sensor used to locate and detect the position of the pallet stack inside the equipment, and to feed back to the PLC control system so that the drive system controls the motor to move in coordination.

[0020] There are multiple positioning sensors, which are respectively located on the main frame of the unpacking and stacking device corresponding to the end of the lifting drive shaft, on the platform frame corresponding to the end of the conveying drive mechanism, and on the conveying frame corresponding to the end of the flipping drive assembly.

[0021] The position detection sensor is a photoelectric sensor, used for positioning and detecting the position of a single-layer material tray inside the equipment, and feeding back to the PLC control system to make the drive system correct its actions.

[0022] There are multiple position detection sensors, which are respectively installed on the position sensor frame of the lifting and conveying platform, on the position sensor frame of the flipping and turning mechanism, and at the rotation positioning mechanism of the main frame of the stacking and unloading body.

[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 installed on the main frame of the stacking and unstacking system to obtain information about the position of the material tray to be dumped and send it to the control system.

[0025] The position sensor group is installed on the main frame of the stacking and destacking system to acquire 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 includes: an ultrasonic transmitter group and a detection camera group connected to a PLC;

[0028] The ultrasonic transmitter assembly is mounted on the main truss frame and its emission direction is towards the cleaning tank. It is used to detect material level information and send it to the PLC.

[0029] The detection camera group is installed on the straight truss module of the walking truss, and its field of view is always facing the washing tank. It is used to photograph the material level of the high-temperature meat products in the washing tank and send it to the PLC.

[0030] The human-computer interaction system includes: a structural box and a touch screen, a start button, a stop button, a reset button and an emergency stop button installed 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 tilting system for high-temperature meat product pallets includes the following steps:

[0034] 1) The PLC controls the lifting and conveying platform and the tilting and turning mechanism to return to zero; the zero position of the conveying drive mechanism and the tilting drive assembly is obtained by the servo motor limit and the origin sensor and fed back to the PLC.

[0035] 2) Before starting the equipment, input the specifications and stacking information of the material trays through the human-machine interaction system;

[0036] 3) The pallet stack enters the lifting and conveying platform, the position is detected by the position detection sensor, and then the pallet is disassembled into a single-layer pallet by the pallet disassembly method, waiting to enter the flipping and turning mechanism;

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

[0038] 5) Monitor the thickness of the material in the detected material tray stack in real time. Analyze the curve change rate and find that the thickness is decreasing. Control the flipping and reversing mechanism to move to the receiving position and send the single-layer material tray into the flipping and reversing mechanism. Detect the status of the material tray through the position detection sensor.

[0039] 6) After the single-layer material tray is fed into the flipping and rewinding mechanism, step 3) is executed again to destacking.

[0040] 7) The receiving position of the flipping and turning mechanism is above the washing tank. After the high-temperature meat products are flipped and poured out, they are immediately sent into a new single-layer material tray, and then step 5) is executed again. At this time, the empty material tray is at the bottom of the flipping and turning mechanism.

[0041] 8) Move the flipping and turning mechanism to the empty material tray feeding position, stack the upper empty material tray in the reverse process of step 3); flip it again to flip the empty material tray of the bottom platform to the upper layer, and stack it in the reverse process of step 3) to finally form an empty material tray stack.

[0042] 9) After the entire stack of material pallets has been tilted over, the lifting and conveying platform returns to its original position, waiting for the new stack of material pallets to enter.

[0043] In step 3), the material trays are disassembled into single-layer trays using the tray destacking method. The height specifications of the trays are then determined. If the height specifications of the trays are uniform, the following steps are included:

[0044] 1-1) The human-machine interface system obtains the tray thickness H, the number of layers N, and the distance H between the outlet position height and the origin of the conveyor drive mechanism. m The distance between the cylinder clamping mechanism and the origin of the lifting platform is H. n The collected parameter data is then sent to the PLC.

[0045] 1-2) Based on the collected parameter data, the PLC obtains the lifting height of the lifting conveyor platform as: H m -H;

[0046] 1-3) The cylinder clamping mechanism clamps the material tray stack and controls the lifting conveyor platform to descend to the exit position, i.e., the descent distance is: H m -H n -H, to disengage the single-layer tray and allow it to enter the flipping mechanism;

[0047] 1-4) Control the lifting and conveying platform to rise H m -H n The cylinder clamping mechanism releases the material tray stack, the lifting conveyor platform descends by H, the cylinder clamping mechanism re-clamps the material tray stack, the lifting conveyor platform descends by 2H, causing the single-layer material tray to detach.

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

[0049] In step 3), the material trays are disassembled into single-layer trays using the tray destacking method. The height specifications of the trays are then determined. If the height specifications of the trays are not uniform, the following steps are included:

[0050] 2-1) If the thickness of the pallet stack has three specifications, namely H1, H2, and H3, then:

[0051] 2-2) The human-machine interaction system can obtain the number of pallet stack layers N, and the distance H between the outlet position height and the origin of the lifting conveyor platform. m The distance between the tilting mechanism and the origin of the lifting conveyor platform is H. n ;

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

[0053] 2-4) The lifting conveyor platform rises slowly. A photoelectric sensor group assists in detecting the thickness of the material tray. After the photoelectric sensor group is triggered, it sends the detected tray thickness to the PLC. The PLC compares the detected tray thickness with {H1, H2, H3} to obtain the tray thickness H. 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 material tray stack, and controls the lowering distance of the lifting conveyor platform to be H. m -H n -Hx, to disengage the single-layer tray and allow it to enter the tilting mechanism;

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

[0056] 2-7) The cylinder clamping mechanism releases the material tray stack, the lifting conveyor platform descends, the material tray thickness Hx measured in step 6) is measured, the cylinder clamping mechanism re-clamps the material tray stack, the lifting conveyor platform descends Hm-Hn-Hx, so that the single layer material tray is detached.

[0057] 2-8) Repeat steps 2-4) to 2-6) until the material trays are empty and the lifting and conveying platform returns to the origin.

[0058] Step 4), obtaining the material level thickness in the cleaning tank using the cross-medium material level detection method, includes the following steps:

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

[0060] 3-2) The 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 distribution of materials in the area is determined, and a material planar distribution group Y is formed.

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

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

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

[0064] 2. The method of the present invention uses photoelectric and position sensors in combination to detect the position of mixed specification material trays, thereby realizing mixed specifications;

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

[0066] 4. This invention utilizes a combination of non-contact sensors and mechanical devices to obtain the positional information of stacked and single-layered pallets within the equipment; it achieves the unstacking and stacking of pallet stacks through multi-layered pallet stacking and dismantling technology; it enables the tilting and dumping of materials within the pallets through a fixed-axis rotational tilting control technology, greatly reducing labor intensity; and it combines the two processes of pallet tilting and full pallet feeding by controlling the motion rhythm and adjusting the control method, thereby improving production rhythm and efficiency.

[0067] 5. This invention can transport stacks of material-filled trays, automatically disassemble them into individual trays, and then transport them to a flipping platform. The trays are then flipped in a designated container pool, and the empty trays are transported to a palletizing machine for stacking. Following the logic of stacked trays entering and exiting, automatic loading and unloading is completed. This device can operate as a standalone unit or be integrated with a production line. This flipping and reversing device can load and unload trays, disassemble and reverse them, flip and revers them, transport them, and perform adaptive measurement, ensuring fully automatic reversing. It completely replaces manual and semi-automatic reversing, greatly reducing labor intensity and improving production efficiency.

[0068] 6. The pallet of the present invention can be smoothly transported and positioned on the lifting conveyor platform, and can be effectively destabilized by cooperating with the rotation positioning mechanism of the destabilization main frame.

[0069] 7. The present invention can transport and position a single material tray. With the cooperation of the centering and alignment mechanism of the lifting conveyor platform and the torsion spring flipping and positioning mechanism of the palletizing main frame, the automatic pallet stacking is realized.

[0070] 8. The traveling truss of the present invention synchronizes the two truss linear modules through the connecting shaft. Through servo drive, the tilting and turning mechanism can be smoothly transported, which not only ensures the synchronization of the two sliding table truss linear modules, but also improves the positioning accuracy.

[0071] 9. The flipping and reversing mechanism of the present invention can firmly fix the material tray on the conveying frame under the joint action of the limiting block and the positioning fork mechanism, and effectively flip and reverse the tray. Moreover, the mechanism can convey and fix the material tray in the vertical direction, realize dual-station flipping, and greatly improve production efficiency.

[0072] 10. All the palletizing and lifting motors in this invention are servo driven, which ensures the positioning accuracy of each link and improves the accuracy of pallet palletizing and depalletizing. Attached Figure Description

[0073] Figure 1 A general schematic diagram of the automatic tilting device for high-temperature meat product trays of the present invention;

[0074] Among them, 10 is the automatic tilting device for material tray stacks, 20 is the PLC control system, 30 is the material tray layer detection system, 40 is the material level detection system, 50 is the drive system, and 60 is the human-machine interaction system.

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

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

[0077] Figure 3 Schematic diagram of the material 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 the cleaning tank, 4002 is the ultrasonic transmitter group, and 4003 is the detection camera group.

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

[0082] Among them, 6001 is the structural 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 This is a three-dimensional structural diagram of the automatic tilting device for material trays of the present invention;

[0084] Figure 7 This is a three-dimensional structural diagram of the main frame for stacking and unstacking according to the present invention;

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

[0086] Figure 9 This is a schematic diagram of the three-dimensional structure of the traveling truss of the present invention;

[0087] Figure 10 This is a three-dimensional structural diagram of the flipping and tilting mechanism of the present invention;

[0088] In the diagram: 1 is the main frame for stacking and unstacking, 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 light curtain, 107 is the feeding guide seat, 108 is the distribution box, 109 is the wire trough, 110 is the upper protective net, 111 is the discharge detection light curtain, 112 is the rotary positioning mechanism, 113 is the platform lower limit sensor, 114 is the tower light, 115 is the chain tensioning mechanism, and 116 is the lower limit support column.

[0089] 2 is the lifting and conveying platform, 201 is the conveying drive mechanism, 202 is the platform frame, 203 is the sensor trigger rod, 204 is the lifting guide wheel assembly, 205 is the centering and alignment mechanism, 206 is the conveying roller line, 207 is the positioning sensor, 208 is the limit guide rod, 209 is the cylinder clamping mechanism, and 210 is the adjustable lifting seat.

[0090] 3 is the traveling truss, 301 is the protective door, 302 is the main frame of the truss, 303 is the truss drive mechanism, 304 is the truss linear module, 305 is the cable chain, and 306 is the side protective cover.

[0091] 4 is the tilting and reversing mechanism, 401 is the tilting drive assembly, 402 is the drive assembly fixing plate, 403 is the positioning fork mechanism, 404 is the conveying drive mechanism, 405 is the conveying frame, 406 is the positioning limit block, 407 is the conveying mechanism, 408 is the material tray positioning sensor, 409 is the main frame limit rod, 410 is the driven rotary assembly, and 411 is the tilting and reversing main frame.

[0092] 5 is the adaptive measuring device; 6 is the control cabinet; 7 is the material tray; 8 is the operation touch screen;

[0093] Figure 11 Overall flowchart of the control method of the present invention;

[0094] Figure 12 Flowchart of the material tray destacking method of the present invention;

[0095] Figure 13 Flowchart of the cross-medium level detection method of the present invention. Detailed Implementation

[0096] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0097] like Figure 1 The figure shown is a general schematic diagram of the automatic tilting device for high-temperature meat product pallets of the present invention. The automatic tilting system for high-temperature meat product pallets of the present invention includes: an automatic tilting device 10 for pallets, and a PLC control system 20, a pallet 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 installed on the automatic tilting device 10 for pallets.

[0098] The automatic tilting device 10 for material trays serves as the execution equipment of the automatic tilting system for high-temperature meat product material trays. It is used to receive control commands from the PLC control system 20 and execute corresponding movements according to the control commands from 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 automatic tilting device 10 of the pallet stack, and control it to perform corresponding movements. Based on the pallet status fed back by the pallet layer detection system 30 and the material level status fed back by the material level detection system 40, the PLC control system 20 adjusts the torque and speed of the servo motor through the drive system 50 to achieve automated control.

[0100] The material tray layer detection system 30 is used to detect the number of material tray layers and determine the number and position of the inner material trays on the automatic material tray stack tilting device 10, so as to determine the position and action execution status of material tray stacks of different specifications.

[0101] The material level detection system 40 is used to detect the material level of the pallet stack and simultaneously determine the thickness of the material level that has been poured across the medium, so as to guide the automatic material level pouring device 10 to perform its operation.

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

[0103] The human-machine interaction system 60 is used to send the execution speed and brand information parameters of the setting device to the PLC control system 20, and at the same time display the detection results and sensor status information received from the PLC control system 20.

[0104] The washing tank 4001 is located directly below the tilting and turning mechanism 4 and is used to receive and pour high-temperature meat products.

[0105] like Figure 2The diagram shown is a schematic of the PLC control system of the present invention. In the present invention, the PLC control system 20 includes: PLC 2001 and servo motor limit and origin sensor 2002, position detection sensor 2003, and position detection sensor 2004 connected thereto.

[0106] The servo motor limit and origin sensor 2002 is a Hall sensor used to obtain the maximum and minimum stroke of the motor and to locate the starting position of the motor. It also detects the origin positioning and overload limit of the servo motor and feeds the data back to the PLC control system 20.

[0107] There are multiple servo motor limit and origin sensors 2002, which are respectively installed on the main frame 1 of the unpacking and stacking device 10 corresponding to the output end of the lifting drive motor 103, 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.

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

[0109] There are multiple positioning detection sensors 2003, which are respectively located on the main frame 1 of the unpacking and stacking device 10 corresponding to the end of the lifting drive shaft 102 of the automatic tilting device 10, on the platform frame 202 corresponding to the end of the conveying drive mechanism 201, and on the conveying frame 405 corresponding to the drive end of the flipping drive assembly 401.

[0110] The position detection sensor 2004 is a photoelectric sensor used for positioning and detecting the position of a single-layer material tray inside the equipment, and feeding back to the PLC control system 20 to cause the drive system 40 to correct its actions.

[0111] There are multiple position detection sensors 2004, which are respectively installed on the sensor frame of the position sensor 207 of the lifting and conveying platform 2, on the sensor frame of the position sensor 408 of the flipping and turning mechanism 4, and at the rotation positioning mechanism 112 of the main frame of the stacking and unloading body 1.

[0112] like Figure 3 The diagram shown is a schematic of the tray layer detection system of the present invention. The tray layer detection system 30 includes: a photoelectric sensor group 3001, a position sensor group 3002 and a limit sensor group 3003.

[0113] The photoelectric sensor group 3001 is installed on the main frame 1 of the stacking and unstacking system to obtain information on the position of the material tray to be dumped and send it to the control system 20.

[0114] The position sensor group 3002 is installed on the main frame 1 of the stacking and destacking system to obtain the position information of the lifting and conveying platform 2 and send it to the control system 20.

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

[0116] like Figure 4 The diagram shown is a schematic of the material level detection system of the present invention.

[0117] The material level detection system 40 includes: an ultrasonic transmitter group 4002 and a detection camera group 4003 connected to the PLC2001;

[0118] The ultrasonic transmitter group 4002 is mounted on the main frame of the truss 302 and the emission direction is towards the cleaning tank 4001. It is used to detect material level information and send it to PLC 2001.

[0119] The detection camera group 4003 is installed on the truss linear module 304 of the walking truss 3, and its field of view is always facing the washing tank 4001. It is used to photograph the material level of the high-temperature meat products in the washing tank 4001 and send it to the PLC 2001.

[0120] like Figure 5 The diagram shows a schematic of the human-computer interaction system of the present invention. The human-computer interaction system 60 includes: 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 disposed on the structural box 6001.

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

[0122] The touch screen 6002, start button 6003, stop button 6004, reset button 6005, and emergency stop button 6006 are connected to the PLC2001 of the PLC control system 20 via a bus.

[0123] like Figure 6The diagram shows a three-dimensional structural schematic of an automatic pallet stack tilting device. This invention provides an automatic pallet stack tilting device, comprising: a lifting and conveying mechanism, a traveling truss 3, a tilting and turning mechanism 4, and an adaptive measuring device 5 (i.e., the material level detection system 40 in the automatic pallet stack tilting system of this invention). The lifting and conveying mechanism includes a pallet unpacking main frame 1 and a lifting and conveying platform 2 disposed within the pallet unpacking main frame 1. The pallet unpacking main frame 1 can drive the lifting and conveying platform 2 to move up and down, and the lifting and conveying platform 2 is used for horizontally conveying the pallets 7. The traveling truss 3... Located on one side of the main frame 1 for destacking and palletizing, the tilting and turning mechanism 4 is mounted on the traveling truss 3. The traveling truss 3 can drive the tilting and turning mechanism 4 to move horizontally. The tilting and turning mechanism 4 is used to drive the pallet 7 to tilt and dump materials and to transport the pallet 7 horizontally. The adaptive measuring device 5 is mounted on the traveling truss 3 to detect the height of the dumped material accumulation. The pallet 7 can be transported and fixed within the lifting conveyor platform 2 and the tilting and turning mechanism 4. With the cooperation of the main frame 1 for destacking and palletizing and the lifting conveyor platform 2, automatic destacking of multi-layer pallets and automatic stacking of single-layer pallets can be realized.

[0124] Furthermore, such as Figures 6 to 7 As shown, the present invention also includes a control cabinet 6 and an operation touch screen 8, wherein the control cabinet 6 is disposed on one side of the lifting and conveying mechanism, and the operation touch screen 8 is fixed on the junction box 108 in the middle part of the main frame 1 for palletizing and depalletizing. In this embodiment, two sets of lifting and conveying mechanisms are arranged side by side, and the main frame 1 for palletizing and depalletizing in the two sets of lifting and conveying mechanisms is connected by a cross brace.

[0125] like Figure 7As shown, in an embodiment of the present invention, the main frame 1 for stacking and unstacking 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. The main frame 101 is a cuboid frame structure, and four sets of lifting transmission chain mechanisms 105 are respectively installed on the four columns of the cuboid frame structure. There are two sets of horizontal transmission chain mechanisms 104, which are arranged in parallel on opposite sides of the bottom of the main frame 101. The lifting drive motor 103 is located at the bottom of the main frame 101 and has dual output shafts. One output shaft of the lifting drive motor 103 is connected to one set of horizontal transmission chain mechanisms 104, and the other output end of the lifting drive motor 103 is connected to another set 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 on the mounting base 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 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 synchronously, thereby realizing the lifting of the lifting 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. The rotating positioning mechanisms 112 can rotate around the crossbeams. The two sets of rotating positioning mechanisms 112 extend out to clamp the second and above material trays 7 on the lifting and conveying platform 2. The first layer of material trays 7 is conveyed by the lifting and conveying platform 2 to the flipping and turning mechanism 4 to complete 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 via a hinge shaft. The positioning cylinder is mounted on the cylinder seat, and its output end is connected to the positioning plate. The positioning cylinder drives the positioning plate to extend, thereby clamping and fixing the material tray 7. A torsion spring is provided on the hinge shaft, which keeps the positioning cylinder in a horizontal state. The floating installation of the cylinder seat prevents the lifting conveyor platform 2 from rising and deforming if the rotary positioning mechanism 112 fails to properly clamp the material tray.

[0128] Furthermore, the feet are fixed to the four corners of the main frame 101. Two chain tensioning mechanisms 115 are provided on both sides of the bottom of the main frame 101. The two chain tensioning mechanisms 115 tension the chains of the two sets of horizontal transmission chain mechanisms 104 respectively. The bottom of the main frame 101 is provided with a lower limit support column 116 for mechanically limiting the lifting and conveying platform 2 and a platform lower limit sensor 113 for detecting the arrival of the lifting and conveying platform 2. The middle of the main frame 101 is provided with a safety light curtain 106 for safety protection and an infeed guide seat 107 for guiding the entire 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 light 114 located outside the upper protective net 110. The upper rear side of the main frame 101 is provided with a discharge detection light curtain 111 for detecting the entry and exit of the material trays 7.

[0129] Specifically, the lifting transmission chain mechanism 105 is installed on the upper and lower crossbeams of the main frame 101. The lower part cooperates with the sprocket of the horizontal transmission chain mechanism 104, and the upper part is directly fixed to the crossbeam through the bracket plate. When the lifting drive motor 103 is activated, it transmits power to the horizontal transmission chain mechanism 104 and the lifting transmission chain mechanism 105 through the lifting drive shaft 102, which can synchronously raise and lower the lifting chain. The chain tensioning mechanism 115 is fixed on the outer side of the bottom end of the main frame 101 for tensioning the chain of the horizontal transmission chain mechanism 104. The lower limit support column 116 is fixed on the middle crossbeam at the bottom of the main frame 101 for mechanical limiting of the lifting platform 2. The safety light curtain 106 is fixed in the middle part of the outer beam of the main frame 101 to prevent personnel from entering when the equipment is working, which plays a safety role. The feeding guide seat 107 is also installed in the middle part of the outer beam of the main frame 101 and fixed on the outside of the safety light curtain 106. It guides the whole stack of material trays 7 entering the stacking and prevents them from 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. The cable tray 109 is fixed to the outside of the upper beam of the main frame 101 for cable routing and air pipe routing. 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 of the rear end of the main frame 101 for detecting the entry and exit of the material tray 7. The rotary 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 rear crossbeam of the main frame 101 for detecting the arrival of the lifting conveyor platform 2.

[0130] like Figure 8As shown in the embodiment of the present invention, the lifting conveying platform 2 includes a conveying drive mechanism 201, a platform frame 202, a lifting guide wheel assembly 204, a centering and aligning mechanism 205, a conveying roller line 206, a positioning sensor 207, a cylinder clamping mechanism 209, and an adjustable lifting seat 210. The conveying drive mechanism 201 and the conveying roller line 206 are mounted on the platform frame 202. The conveying drive mechanism 201 can drive the conveying roller line 206 to perform conveying actions. Lifting guide wheels that contact the main frame 101 are fixed at the four corners of the platform frame 202. The platform frame 202 can be raised and lowered inside the main frame 101 via the lifting guide wheel assembly 204 and the adjustable lifting seat 210 for connection with the lifting transmission chain mechanism 105. During the lifting process, the lifting guide wheel assembly 204 provides forward, backward, left and right guidance and limits to ensure smooth lifting. The centering and aligning mechanism 205 is installed on both sides of the middle of the platform frame 202 to center and align the material trays 7 on the conveyor roller line 206. The two ends of the platform frame 202 are provided with two sets of cylinder clamping mechanisms 209 for clamping the material trays 7.

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

[0132] Specifically, the centering and aligning mechanism 205 includes a cylinder and an aligning plate connected to the cylinder's output end. The cylinder actuates the aligning plate to center and align the material tray 7, facilitating positioning during stacking. The conveyor rollers 206 are fixed at certain intervals within the channel steel of the platform frame 202. Under the action of the conveying drive mechanism 201, they convey the material tray 7 forward or backward. Limiting guide rods 208 are installed on both sides of the conveyor rollers 206, and wear-resistant strips are fixed to the inner side of the guide rods 208 to reduce frictional resistance, thus providing guidance and limiting. A pair of position sensors 207 are fixed to the platform frame 202 at the front and rear, mainly used to detect when the material tray 7 is conveyed by the conveyor rollers 206 and positioned on the lifting conveyor platform 2. The cylinder clamping mechanism 209 is installed on the front and rear sides of the platform frame 202, and inside the conveying roller line 206, with two sets at the front and two at the rear. When the material tray 7 is detected, the two sets of cylinder clamping mechanisms 209 at the front open. When the material tray 7 is in place, the two sets of cylinder clamping mechanisms 209 at the rear open. The front and rear cylinder clamping mechanisms 209 tightly clamp the material tray in the center position. With the centering and alignment mechanism 205, the material tray 7 is effectively unpacked and stacked. The adjustable lifting seat 210 is fixed in the fixed position near the middle of the four corners of the platform frame 202. There is a set of adjustable screws at the top and bottom. The screw ends 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. The lifting conveying platform 2 can be conveyed up and down with the lifting transmission chain mechanism 105.

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

[0134] Specifically, the truss main frame 302 is composed of multiple sets of horizontal and vertical beams assembled with screws. The vertical beams at both ends are fixed to the stacking main frame 1 via four L-shaped brackets. Protective doors 301 are installed on the left and right sides and the lower left or right side of the front of the truss main frame 302. The side protective doors 301 are fully open for easy maintenance and repair in case of problems. The front protective door 301 is mainly used for equipment cleaning. Two sets 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 for adjusting the horizontal level of the truss linear module 304. The two drive wheels at the front end of the truss linear module 304 are connected via a transition shaft to ensure synchronous drive. The truss drive mechanism 303 is fixed to the front side 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, ensuring the effectiveness of power transmission. One end of the cable 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 tilting and turning main frame 411 of the tilting and turning mechanism 4, facilitating the routing of cables and air pipes. The side protective cover 306 is fixed to the upper middle position of the front of the truss main frame 302 to prevent accidental entry and injury during equipment operation. The adaptive measuring device 5 is fixed to the middle crossbeam of the truss main frame 302 through a mounting bracket, which detects 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 tilting or stop operation.

[0135] like Figure 10 As shown in the embodiment of the present invention, the tilting and rewinding mechanism 4 includes a tilting drive assembly 401, a positioning fork mechanism 403, a conveying drive mechanism 404, a conveying frame 405, a conveying mechanism 407, a driven rotary assembly 410, and a tilting and rewinding main frame 411. The top of the tilting and rewinding main frame 411 is connected to the output end of the truss linear module 304. The tilting drive assembly 401 and the driven rotary assembly 410 are coaxially mounted on both sides of the bottom of the tilting and rewinding main frame 411. The conveying frame 405 is connected to the tilting drive assembly. Between 401 and the driven rotary assembly 410, the flip drive assembly 401 drives the conveyor frame 405 to flip; the convey drive mechanism 404 and the conveyor mechanism 407 are disposed on the conveyor frame 405, the convey drive mechanism 404 is used to drive the conveyor mechanism 407 to perform conveying action, and the conveyor mechanism 407 is consistent with the horizontal conveying direction of the lifting conveyor platform 2; the conveyor frame 405 is provided with positioning fork mechanisms 403 located on both sides of the conveyor mechanism 407, and the positioning fork mechanisms 403 are used to position and fix the material tray 7.

[0136] Furthermore, the front ends of the conveying mechanism 407 are provided with material tray position sensors 408 for detecting the position of the material tray 7; the front ends of the conveying frame 405 are provided with position limit blocks 406 for mechanical limiting; the sides of the tilting and turning main frame 411 are provided with main frame limit rods 409, which are used to trigger the limit switches provided on the truss main frame 302.

[0137] Specifically, the tilting drive assembly 401 and the driven rotary assembly 410 are fixed to the drive assembly fixing plate 402 via flange seats, ensuring that the two mounting shafts are concentric. The drive assembly fixing plate 402 is fixed to the lower sides of the tilting main frame 411 and locked with screws. Mounting plates are welded to the four corners of the upper frame of the tilting main frame 411 and are respectively installed to the four sliders of the truss linear module 304. The overall tilting mechanism 4 can move smoothly on the traveling truss 3. The two sides of the conveying frame 405 are fixed to the ends of the tilting drive assembly 401 and the driven rotary 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. 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. The tray 7 can move forward or backward on the conveying mechanism 407. In this embodiment, the conveying mechanism 407 is a chain conveyor. The tray position sensor 408 is installed on both sides of the front end of the conveying mechanism 407 to detect the position of the tray 7. The positioning fork mechanism 403 is installed at the left and right ends of the conveying mechanism 407 and directly above the drive assembly 401. The position limit block 406 is fixed in the middle of the conveying frame 405. The two work together to firmly fix the tray 7 and prevent it from falling off when it 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 limit switch fixed on the truss main frame 302 when the limit sensor of the truss linear module 304 fails, so as to play a secondary limit role and prevent the equipment from causing more serious failures due to sensor failure.

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

[0139] The working principle of the automatic tilting device for the material pallets is as follows:

[0140] After the previous process, the conveyor belt automatically transports the entire stack of pallets to the lifting conveyor platform 2 inside the main frame 1 for stacking. When it approaches the main frame 1, the tilted pallets 7 will automatically be guided to center and align under the action of the infeed guide seat 107. When the pallet 7 triggers the sensor at the entrance of the lifting conveyor platform, the two sets of cylinder clamping mechanisms 209 in the front open, the conveyor roller line 206 rotates, and the pallet 7 is transported smoothly. When the positioning sensor 207 is triggered, the conveyor roller line 206 stops rotating, and the two sets of cylinder clamping mechanisms 209 in the rear open, clamping the pallet 7 onto the lifting conveyor platform 2. Under the action of the lifting drive motor 103, the lifting conveyor platform 2 slowly rises to the designated position, the cylinder of the rotation positioning mechanism 112 extends, clamping the second and above pallets in the air, and the first layer of pallets is transported to the conveyor belt of the flipping and turning mechanism 4 on the traveling truss 3, completing the automatic stacking of the pallets 7. Based on actual on-site usage, the tilting and reversing position can be adjusted appropriately. With the combined action of the positioning fork mechanism 403 and the positioning limit block 406, the tilting tray will not fall off and can complete the emptying of materials within the tray. The tilting and reversing mechanism adopts a dual-station design, allowing for identical tilting operations from both the top and bottom, significantly improving equipment production efficiency. The adaptive measuring device 5 installed on the truss main frame 302 can detect the height of the poured material in real time. When the material reaches the specified height, the equipment stops pouring, and the finished tray is then conveyed to the lifting conveyor platform 2 via the conveying mechanism 407 of the tilting and reversing mechanism 4. Similar to the destacking principle, the trays are stacked layer by layer under the combined action of the front and rear cylinder clamping mechanisms and the centering and aligning mechanism. Finally, the entire stack of trays is conveyed to the next station conveyor belt, ultimately realizing automatic conveying, destacking, tilting and reversing, stacking, and output of the trays.

[0141] like Figure 11 The diagram shown is a flowchart of the method of the present invention. The control method of the automatic tilting system for high-temperature meat product pallets of the present invention includes the following steps:

[0142] 1) PLC2001 controls the zero-return movement of the lifting conveyor platform 2 and the tilting and turning mechanism 4; the zero-return position of the conveyor drive mechanism 201 and the tilting drive assembly 401 is obtained by the servo motor limit and the origin sensor 2002 and fed back to PLC2001.

[0143] 2) Before starting the equipment, input the specifications and stacking information of the material trays through the human-machine interaction system 50;

[0144] 3) The pallet stack enters the lifting and conveying platform 2, and the position is detected by the position detection sensor 2003. Then, the pallet is disassembled into a single-layer pallet by the pallet disassembly method, and waits to enter the flipping and turning mechanism 4.

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

[0146] 5) The thickness of the material in the detected material tray stack is monitored in real time. By analyzing the curve change rate, the thickness shows a decreasing trend. The flipping mechanism 4 is controlled to move to the receiving position and send the single-layer material tray into the flipping mechanism 4. The status of the material tray is detected by the position detection sensor 2004.

[0147] 6) After the single-layer material tray is fed into the flipping and turning mechanism 4, step 3) is executed again to destacking.

[0148] 7) The receiving position of the flipping and tilting mechanism 4 is above the washing tank 4001. After the high-temperature meat products are flipped and poured out, they are immediately sent into a new single-layer material tray, and then step 5) is executed again. At this time, the empty material tray is at the bottom of the flipping and tilting mechanism 4.

[0149] 8) Move the flipping and turning mechanism 4 to the empty material tray feeding position, stack the upper empty material tray in the reverse process of step 3); after flipping, flip the empty material tray of the bottom platform to the upper layer, and stack it in the reverse process of step 3) to finally form an empty material tray stack.

[0150] 9) After the entire stack of material pallets has been tilted over, the lifting conveyor platform 2 returns to its original position, waiting for the new stack of material pallets to enter.

[0151] like Figure 12 The diagram shown is a flowchart of the material tray destacking method of the present invention. The present invention uses two judgment methods for control, as detailed below:

[0152] The material trays are disassembled into single-layer trays using the tray destacking method. The height specifications of the trays are then 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 material tray thickness H, the number of layers N, and the distance H between the outlet position height and the origin of the conveying drive mechanism 201. m The distance between the cylinder clamping mechanism 209 and the origin of the rising platform 2 is H. n The collected parameter data is then sent to PLC2001.

[0154] 1-2) Based on the collected parameter data, PLC2001 obtains the lifting height of the lifting conveyor platform 2 as: H m -H;

[0155] 1-3) The cylinder clamping mechanism 209 clamps the material tray stack and controls the lifting conveyor platform 2 to descend to the outlet position, i.e., the descent distance is: H m -H n -H, so that the single-layer tray is disengaged and enters the flipping mechanism 4;

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

[0157] 1-6) Repeat steps 1-4) until the pallet stack is empty and the lifting conveyor platform 2 returns to the origin.

[0158] In step 3), the material trays are disassembled into single-layer trays using the tray destacking method. The height specifications of the trays are then determined. If the height specifications of the trays are not uniform, the following steps are included:

[0159] 2-1) If the thickness of the pallet stack has three specifications, namely H1, H2, and H3, then:

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

[0161] 2-3) Lifting Conveyor Platform 2 Lifting Height H m -max{H1, H2, H3};

[0162] 2-4) The lifting conveyor platform 2 rises slowly. The photoelectric sensor group 3001 assists in detecting the thickness of the material tray. After the photoelectric sensor group 3001 is triggered, it sends the detected material tray thickness to the PLC 2001. The PLC 2001 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 control the lifting conveyor platform 2 to stop rising;

[0163] 2-5) The cylinder clamping mechanism 209 clamps the material tray stack and controls the lowering distance of the lifting conveyor platform 2 to be H. m -H n -H x This causes the single-layer tray to detach and enter the tilting mechanism 4;

[0164] 2-6) Lifting Conveyor Platform 2 Lifting Height H m -H n When the thickness of the material tray is +min{H1, H2, H3}, the lifting conveyor platform 2 rises slowly. The photoelectric sensor group 3001 assists in detecting the thickness of the material tray. After the photoelectric sensor group 3001 is triggered, it sends the detected material tray thickness to the PLC2001. The 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 stop rising;

[0165] 2-7) The cylinder clamping mechanism 209 releases the material tray stack, and the lifting conveyor platform 2 descends. The material tray thickness Hx measured in step 6) is then used to re-clamp the material tray stack, and the lifting conveyor platform 2 descends by H. m -H n -H x This causes the single-layer material tray to detach;

[0166] 2-8) Repeat steps 2-4) to 2-7) until the material tray is empty and the lifting conveyor platform 2 returns to the origin.

[0167] like Figure 13 The diagram shown illustrates the principle of the cross-medium level detection method of the present invention. The method obtains the material level thickness within the cleaning tank 4001 through cross-medium level detection, including the following steps:

[0168] 3-1) The ultrasonic transmitter group 4002 detects the thickness of the material on the water surface and sends it to the PLC2001. The PLC2001 divides the water surface of the cleaning tank 4001 into areas to form a material thickness group X.

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

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

[0171] This invention provides an automatic tilting device, system, and control method for high-temperature meat product pallets. It enables automatic loading and unloading of pallets, unpacking, tilting, conveying, and adaptive measurement, significantly improving work efficiency, reducing labor intensity, and effectively saving working time. By integrating ultrasonic and visual detection, it achieves cross-media detection of material levels within the washing tank, providing closed-loop support for automated control. Through the cooperation of photoelectric and position sensors, it completes the position detection of mixed-specification pallets, thereby achieving mixed-specification control. The method of integrating ultrasonic and visual detection also enables cross-media detection of material levels within the washing tank, providing closed-loop support for automated control.

[0172] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A control method for an automatic tilting system for high-temperature meat product pallets, characterized in that: This is based on an automatic tilting system for high-temperature meat product pallets. The system includes: an automatic tilting device (10) for pallets, a PLC control system (20), a pallet 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) installed on the automatic tilting device (10). The automatic tilting device (10) of the material tray stack serves as the execution equipment of the automatic tilting system for high-temperature meat products material tray stacks. It is used to receive control commands from the PLC control system (20) and execute corresponding movements according to the control commands from the PLC control system (20). The automatic tilting device (10) for the material tray stack includes: a lifting and conveying mechanism, a traveling truss (3), a tilting and turning mechanism (4), and an adaptive measuring device (5). The lifting and conveying mechanism includes a main frame (1) for destacking and stacking and a lifting and conveying platform (2) installed inside the main frame (1). The main frame (1) can drive the lifting and conveying platform (2) to lift and lower. The lifting and conveying platform (2) is used to horizontally convey the material tray (7). A traveling truss (3) is installed on one side of the main frame (1). A tilting and turning mechanism (4) is installed on the traveling truss (3). The traveling truss (3) can drive the tilting and turning mechanism (4) to move horizontally. The tilting and turning mechanism (4) is used to drive the material tray (7) to tilt and pour materials and to horizontally convey the material tray (7). A material level detection system (40) is installed on the traveling truss (3) and is used to detect the height of the piled-up material. The PLC control system (20) is used to receive the parameters required by the human-machine interaction system (60) to adjust the automatic tilting device (10) of the pallet stack, and control it to perform corresponding movements. According to the pallet status fed back by the pallet layer detection system (30) and the material level status fed back by the material level detection system (40), the torque and speed of the servo motor are adjusted by the drive system (50) to realize automatic control. The material tray layer detection system (30) is used to detect the number of material tray layers and determine the number and position of the inner material trays on the automatic tilting device (10) of the material tray stack, so as to determine the position and action execution status of the material tray stacks of different specifications. The material level detection system (40) is used to detect the material level of the pallet stack and simultaneously determine the thickness of the material level that has been poured across the medium, so as to guide the automatic tilting device (10) of the pallet stack to perform its operation. The drive system (50) is used for coordination between multiple motors. Through real-time communication and control algorithms, it coordinates multiple servo motors to move and position precisely. It is connected to the PLC control system (20) via a bus and adjusts the control strategy according to the actual motion state to ensure that the servo motors can accurately perform the predetermined motion 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 detection results and sensor status information received from the PLC control system (20); The washing tank (4001) is located directly below the tilting and turning mechanism (4) and is used to receive and pour high-temperature meat products. The control method of this system includes the following steps: 1) The PLC (2001) controls the lifting conveyor platform (2) and the tilting mechanism (4) to return to zero; the zero position of the conveying drive mechanism (201) and the tilting drive assembly (401) is obtained by the servo motor limit and the origin sensor (2002) and fed back to the PLC (2001). 2) Before starting the equipment, input the specifications and stacking information of the material trays through the human-machine interaction system (60); 3) The pallet stack enters the lifting conveyor platform (2), the position is detected by the position detection sensor (2003), and then the pallet is disassembled into a single-layer pallet by the pallet disassembly method, waiting to enter the flipping and turning mechanism (4). The material trays are disassembled into single-layer trays using the tray destacking method. The height specifications of the trays are then determined. If the height specifications of the trays are uniform, the following steps are included: 1-1) The human-machine interaction system (60) obtains the tray thickness H, the number of layers N, and the distance H between the outlet position height and the origin of the conveying drive mechanism (201). m The distance between the cylinder clamping mechanism (209) and the origin of the rising platform (2) is H. n The collected parameter data is then sent to the PLC (2001). 1-2) Based on the collected parameter data, the PLC (2001) obtains the lifting height of the lifting conveyor platform (2) as: H m -H; 1-3) The cylinder clamping mechanism (209) clamps the material tray stack and controls the lifting conveyor platform (2) to descend to the outlet position, that is, the descent distance is: H m -H n -H, so that the single-layer tray is disengaged and enters the flipping mechanism (4); 1-4) Control the lifting and conveying platform (2) to rise H m -H n The cylinder clamping mechanism (209) releases the material tray stack, the lifting conveyor platform (2) descends by H, the cylinder clamping mechanism (209) re-clamps the material tray stack, the lifting conveyor platform (2) descends by 2H, so that the single layer material tray is detached; 1-5) Repeat steps 1-4) until the pallet stack is empty, and the lifting conveyor platform (2) returns to the origin; The material trays are disassembled into single-layer trays using the tray destacking method. The height specifications of the trays are then determined. If the height specifications of the trays are not uniform, the following steps are included: 2-1) If the thickness of the pallet stack has three specifications, namely H1, H2, and H3, then: 2-2) The human-machine interaction system (60) can obtain the number of pallet stack layers N, the distance between the outlet position height and the origin of the lifting conveyor platform (2) is H. m The distance between the tilting mechanism (4) and the origin of the lifting conveyor platform (2) is H. n ; 2-3) Lifting Conveyor Platform (2) Lifting Height H m -max{H1, H2, H3}; 2-4) The lifting conveyor platform (2) rises slowly. The photoelectric sensor group (3001) assists in detecting the thickness of the material tray. After the photoelectric sensor group (3001) is triggered, it sends the detected material tray thickness to the PLC (2001). The PLC (2001) 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 control the lifting and conveying platform (2) to stop rising; 2-5) The cylinder clamping mechanism (209) clamps the material tray stack and controls the lifting and conveying platform (2) to descend a distance of H. m -H n -H x This allows the single-layer tray to detach and enter the flipping mechanism (4). 2-6) When the lifting conveyor platform (2) rises to a height of Hm-Hn+min{H1, H2, H3}, the lifting conveyor platform (2) rises slowly. The photoelectric sensor group (3001) assists in detecting the thickness of the material tray. After the photoelectric sensor group (3001) is triggered, it sends the detected thickness of the material tray to the PLC (2001). The PLC (2001) compares the detected thickness of the material tray with {H1, H2, H3} to obtain the thickness of the material tray H. x And H x Within {H1, H2, H3}, and stop rising; 2-7) The cylinder clamping mechanism (209) releases the pallet stack, and the lifting conveyor platform (2) descends. The pallet thickness Hx measured in step 6) is then used to re-clamp the pallet stack, and the lifting conveyor platform (2) descends. m -H n -H x This causes the single-layer material tray to detach; 2-8) Repeat steps 2-4) to 2-7) until the material tray is empty, and the lifting conveyor platform (2) returns to the origin; 4) Obtain the thickness of the material level in the material tray stack within the cleaning tank (4001) by using the cross-media material level detection method; 5) The thickness of the material in the detected material tray stack is monitored in real time. By analyzing the curve change rate, the thickness shows a decreasing trend. The flipping and turning mechanism (4) is controlled to go to the receiving position and the single-layer material tray is sent into the flipping and turning mechanism (4). The status of the material tray is detected by the position detection sensor (2004). 6) After the single-layer material tray is fed into the flipping and turning mechanism (4), step 3) is executed again to destacking; 7) The receiving position of the flipping and turning mechanism (4) is above the washing tank (4001). After the high-temperature meat products are flipped and poured, they are immediately sent into a new single-layer material tray, and then step 5) is executed again. At this time, the empty material tray is at the bottom of the flipping and turning mechanism (4). 8) Move the flipping and turning mechanism (4) to the empty material tray feeding position, stack the upper empty material tray in the reverse process of step 3); after flipping, flip the empty material tray of the bottom platform to the upper layer, and stack it in the reverse process of step 3) to finally form an empty material tray stack. 9) After the entire stack of material pallets has been tilted over, the lifting conveyor platform (2) will descend back to its original position and wait for the new stack of material pallets to enter.

2. The control method for the automatic tilting system of high-temperature meat product pallets according to claim 1, characterized in that, The PLC control system (20) includes: a PLC (2001) and servo motor limit and origin sensors (2002), position detection sensors (2003), and position detection sensors (2004) connected thereto. The servo motor limit and origin sensor (2002) is a Hall sensor used to obtain the maximum and minimum stroke of the motor and to locate the starting position of the motor. It also detects the origin positioning and overload limit of the servo motor and feeds the data back to the PLC control system (20). There are multiple servo motor limit and origin sensors (2002), which are respectively installed on the main frame (1) of the pallet unloading main frame (1) corresponding to the output end of the lifting drive motor (103) of the automatic pallet tilting 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 position detection sensor (2003) is a photoelectric sensor used to locate and detect the position of the pallet stack inside the equipment, and to feed back to the PLC control system (20) so that the drive system (50) controls the motor to work together. There are multiple positioning sensors (2003), which are respectively located on the main frame (1) of the pallet unpacking main body (1) corresponding to the end of the lifting drive shaft (102) of the automatic pallet tilting device (10), on the platform frame (202) corresponding to the end of the conveying drive mechanism (201), and on the conveying frame (405) corresponding to the drive end of the flipping drive assembly (401). The position detection sensor (2004) is a photoelectric sensor used for positioning and detecting the position of a single-layer material tray inside the equipment, and feeding back to the PLC control system (20) to make the drive system (50) correct its actions; There are multiple position detection sensors (2004), which are respectively located on the position sensor (207) sensor frame of the lifting conveyor platform (2), on the material tray position sensor (408) sensor frame of the flipping and turning mechanism (4), and at the rotation positioning mechanism (112) of the stacking and unloading main frame (1).

3. The control method for an automatic tilting system for high-temperature meat product pallets according to claim 1, characterized in that, The tray layer detection system (30) includes: a photoelectric sensor group (3001), a position sensor group (3002), and a limit sensor group (3003). The photoelectric sensor group (3001) is installed on the main frame (1) of the stacking and unstacking system to obtain information on the position of the material to be dumped tray and send it to the control system (20). The position sensor group (3002) is installed on the main frame (1) of the stacking and unstacking system 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) to obtain the height information of the lifting conveyor platform (2) and send it to the control system (20).

4. The control method for an automatic tilting system for high-temperature meat product pallets according to claim 1, characterized in that, The material level detection system (40) includes: an ultrasonic transmitter group (4002) and a detection camera group (4003) connected to a PLC (2001). The ultrasonic transmitter group (4002) is mounted on the main frame of the truss (302) and the emission direction is towards the cleaning tank (4001). It is used to detect material level information and send it to the PLC (2001). The detection camera group (4003) is located on the truss straight module (304) of the walking truss (3), and the field of view is always facing the washing tank (4001). It is used to photograph the material level of the cross-medium high-temperature meat products in the washing tank (4001) and send it to the PLC (2001).

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

6. The control method for an automatic tilting system for high-temperature meat product pallets according to claim 1, characterized in that, In step 4), the material level thickness in the cleaning tank (4001) is obtained by the cross-media material level detection method, including the following steps: 3-1) The ultrasonic transmitter group (4002) detects the thickness of the material 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). Through the same area divided in step 3-1), the material distribution in the area is determined, and a material planar distribution group Y is formed. 3-3) Perform data fitting on material thickness groups X and Y to obtain the material distribution in the cleaning pool (4001) area.

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