Automatic tray throwing machine, container food filling system and automatic tray throwing method

Abstract

The invention discloses an automatic tray throwing machine, a container food filling system and an automatic tray throwing method. The automatic tray throwing machine comprises a rack, a material supporting groove assembly and a material grabbing and throwing assembly. The rack comprises a main supporting frame, a first supporting frame and a second supporting frame. A plurality of discharging stations are linearly arrayed in the length direction of the main supporting frame. The material supporting groove assembly is arranged on the main supporting frame and used for fixing the inner tray raw materials to the position above the discharging station. The grabbing and throwing assembly comprises a lifting rotary adsorption device and a lifting rotary driving device; the lifting rotation driving device is used for driving the lifting rotation adsorption device to be switched between a first state and a second state, the lifting rotation adsorption device is used for adsorbing the inner tray above the discharging station in the first state, and the lifting rotation adsorption device is used for pressing the inner tray into the container food cavity in the second state. According to the automatic feeding device, automatic feeding of the trays in the container food can be achieved, the production efficiency is improved, and the packaging consistency and the product stability are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging equipment, and in particular to an automatic tray-dropping machine, a container food filling system and an automatic tray-dropping method. Background Art

[0002] The container food filling system is an automated device used to fill food into containers. This system is widely used in the food processing and packaging industries to ensure that food can be filled efficiently and hygienically during the production process.

[0003] The design and configuration of the container food filling system will vary according to the specific food type, production scale and packaging requirements. As people's requirements for food increase, some container foods need to be placed in an internal tray during the filling process. This tray is usually made of plastic or paper materials and is customized according to the size and design of the container. By inserting an internal tray in the container, it can help maintain the shape and position of the food in the barrel, prevent the food from deforming or scattering during transportation, reduce the movement of food in the barrel, reduce friction and collision, reduce breakage and damage, and make the food filling more neat, and the amount and position of noodles can be more effectively controlled during packaging.

[0004] At present, inner trays are generally placed manually or by robotic arms, but the placement efficiency and quality are relatively poor and the cost is high. There is a lack of automatic tray placement machines that can be applied to container food filling systems and can place inner trays into containers to meet the production needs of container foods with built-in trays, improve production efficiency, and ensure packaging consistency and product stability. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention provides an automatic tray-dropping machine, a container food filling system and an automatic tray-dropping method, which can meet the production needs of container food with a built-in tray, realize the automatic delivery of the tray in the container food, improve the production efficiency, and ensure the consistency of packaging and the stability of the product.

[0006] The first aspect of the present invention provides an automatic tray-dropping machine, comprising a frame, a tray trough assembly and a material grabbing and dropping assembly;

[0007] The frame includes a main support frame, a first support frame and a second support frame are respectively arranged on opposite sides of the main support frame, and a conveying channel for a bowl material conveyor to pass through is formed between the main support frame, the first support frame and the second support frame; a plurality of material discharge stations are formed at the bottom of the main support frame, and the plurality of material discharge stations are linearly arrayed in the length direction of the main support frame;

[0008] The support trough assembly is arranged on the main support frame, and the support trough assembly is used to fix the inner tray raw material above the discharge station;

[0009] The material grabbing and delivering assembly includes a lifting and rotating adsorption device and a lifting and rotating driving device; the lifting and rotating adsorption device is arranged below the main support frame, and the lifting and rotating driving device is arranged on the first support frame; the lifting and rotating driving device is used to drive the lifting and rotating adsorption device to switch between a first state and a second state, and the lifting and rotating adsorption device is used to adsorb the inner tray above the material delivery station in the first state, and the lifting and rotating adsorption device is used to press the inner tray into the food cavity of the container in the second state.

[0010] In the first aspect of the present invention, as a preferred embodiment, the material trough assembly includes a material trough mechanism, and the material trough mechanism includes a material discharge trough, a material trough mounting frame and a material guide frame;

[0011] The material discharging trough comprises a first enclosing plate, a second enclosing plate and a material trough bottom plate; the material trough bottom plate has a plurality of discharging openings for the inner tray to pass through in a linear array, the discharging openings are arranged above the discharging station, and the first enclosing plate and the second enclosing plate are fixed on opposite sides above the material trough bottom plate;

[0012] The trough mounting frame includes a first transverse mounting plate, a second transverse mounting plate and a connecting vertical rod, wherein the first transverse mounting plate is fixed above the first enclosure plate through the connecting vertical rod, and the second transverse mounting plate is fixed above the second enclosure plate through the connecting vertical rod;

[0013] The material guide rack comprises a first guide rod mounting plate, a second guide rod mounting plate and a material guide rod; the first guide rod mounting plate is connected to the first transverse mounting plate, and the second guide rod mounting plate is connected to the second transverse mounting plate; a plurality of material guide rods are fixed on one side opposite to the first guide rod mounting plate and the second guide rod mounting plate; thus, a material storage area for placing raw materials on the inner tray is formed between the material guide rod fixed to the first guide rod mounting plate and the material guide rod fixed to the second guide rod mounting plate;

[0014] A first adjusting member is provided at the connection between the first guide rod mounting plate and the first transverse mounting plate, and a second adjusting member is provided at the connection between the second guide rod mounting plate and the second transverse mounting plate, so that the first guide rod mounting plate and the second guide rod mounting plate can be closer to or farther away from each other.

[0015] In the first aspect of the present invention, as a preferred embodiment, the material support trough assembly further includes a material clamping mechanism and an intercepting mechanism;

[0016] The interception mechanism is arranged near the discharge port, and the interception mechanism comprises an interception plate, and the interception plate is arranged at the edge of the discharge port through an interception control member; the interception control member drives the interception plate to approach or move away from the discharge port, and intercepts or releases the inner pallet near the discharge port;

[0017] The clamping mechanism includes a first clamping plate and a second clamping plate, the first clamping plate is connected to the first enclosure plate through a first clamping control component, the second clamping plate is connected to the second enclosure plate through a second clamping control component, and the first clamping plate and the second clamping plate are arranged opposite to each other; the first clamping plate and the second clamping plate are driven to approach each other by the first clamping control component and the second clamping control component to clamp the inner tray raw material in the discharge trough; the first clamping plate and the second clamping plate are driven to move away from each other by the first clamping control component and the second clamping control component to release the inner tray raw material in the discharge trough, so that the inner tray at the end falls to the discharge port under the action of gravity.

[0018] In the first aspect of the present invention, as a preferred embodiment, a first lifting slot is vertically opened on the first support frame; a second lifting slot is vertically opened on the second support frame;

[0019] The lifting and rotating adsorption device comprises a suction cup shaft and an adsorption fixture; the two ends of the suction cup shaft respectively form a first end and a second end, the first end is inserted into the first lifting slot, and the second end is inserted into the second lifting slot; the adsorption fixture is fixed to the suction cup shaft through a suction cup mounting plate; a plurality of the adsorption fixtures are linearly arrayed in the length direction of the suction cup shaft;

[0020] The adsorption fixture comprises a vacuum suction cup and a connecting pipe; one end of the connecting pipe is connected to the vacuum suction cup, and the other end is used to connect to the vacuum pump unit;

[0021] The adsorption fixture also includes a buffer spring, which is sleeved on the connecting pipe, one end of which is connected to the vacuum suction cup, and the other end of which is abutted against the suction cup mounting plate.

[0022] In the first aspect of the present invention, as a preferred embodiment, a first sliding device is provided between the first end of the suction cup shaft and the first support frame, the first sliding device comprises a first slide plate, both ends of the first slide plate are connected to the first support frame through slide rails, so that the first slide plate can move back and forth in a vertical direction relative to the first support frame; the first end of the suction cup shaft is connected to the first slide plate through a bearing mounting seat;

[0023] A second sliding device is arranged between the second end of the suction cup shaft and the second support frame, and the second sliding device includes a second slide plate, and both ends of the second slide plate are connected to the second support frame through slider guides, so that the second slide plate can move back and forth in the vertical direction relative to the two support frames; the second end of the suction cup shaft is connected to the second slide plate through a bearing mounting seat.

[0024] In the first aspect of the present invention, as a preferred embodiment, the lifting and rotating driving device includes a servo motor, a lifting cam and a lifting connecting rod; the servo motor is fixed to the first support frame through a motor mounting seat; the lifting cam is rotatably connected to the first support frame through a rotating shaft; one end of the lifting connecting rod is connected to the lifting cam, and the other end is connected to the first slide; the servo motor is connected to the rotating shaft of the lifting cam through a synchronous belt pulley transmission member, and the servo motor provides power to drive the lifting cam to rotate, and the first slide is driven to rise and fall through the lifting connecting rod;

[0025] The lifting and rotating driving device also includes a rotating cam positioning plate and a connecting track plate; the rotating cam positioning plate is fixed to the first supporting frame through a connecting rod, and the rotating cam positioning plate has an upper positioning pin, a lower positioning pin and a rotating positioning pin, and a plurality of the rotating positioning pins are arranged on one side of the line connecting the upper positioning pin and the lower positioning pin;

[0026] The connecting track plate has a fixing hole, and the connecting track plate is connected to the first end of the suction cup shaft through the fixing hole; the connecting track plate is provided with a lifting limit slide groove and a rotation engagement slot, and the lifting limit slide groove and the rotation slot are respectively arranged on both sides of the fixing hole; the connecting track plate is driven to rotate by the engagement of the rotation engagement slot with the rotation positioning pin, thereby rotating the suction cup shaft 180°; the lifting limit slide groove is used to slide with the upper positioning pin or the lower positioning pin to limit the rotation of the connecting track plate.

[0027] In the first aspect of the present invention, as a preferred embodiment, the material grabbing and delivering assembly further comprises a lifting linkage device, the lifting linkage device comprises a linkage shaft, a lifting linkage cam and a lifting linkage rod; the lifting linkage cam is rotatably connected to the second support frame via a rotating shaft; one end of the lifting linkage rod is connected to the lifting linkage cam, and the other end is connected to the second slide plate;

[0028] One end of the linkage shaft is rotatably connected to the first support frame, and the other end is rotatably connected to the second support frame; the end of the linkage shaft close to the first support frame is connected to the rotating shaft of the lifting cam through a synchronous belt pulley transmission, and the end of the linkage shaft close to the second support frame is connected to the rotating shaft of the lifting linkage cam through a synchronous belt pulley transmission; the lifting linkage cam is driven to rotate synchronously with the lifting cam through the linkage shaft to achieve synchronous lifting of the second slide plate and the first slide plate.

[0029] In the first aspect of the present invention, as a preferred embodiment, it also includes a platform component, which includes a filling platform and a filling step. The filling platform is arranged on one side of the main support frame, and the filling step is arranged at one end of the filling platform; guardrails are arranged on the filling platform and the seasoning step.

[0030] A second aspect of the present invention provides a container food filling system, comprising the automatic tray loading machine as described in any one of the first aspects of the present invention;

[0031] It also includes a bowl material conveyor, which is arranged in a conveying channel formed by the main support frame, the first support frame and the second support frame, and has a supporting station on the bowl material conveyor; the supporting station is arranged below the material discharge station; the bowl material conveyor drives the container bowl materials to pass through the supporting station in turn to receive the inner tray dropped by the automatic tray dropping machine.

[0032] The third aspect of the present invention provides an automatic delivery method, comprising the following steps:

[0033] Providing the automatic tray-dropping machine as described in any one of the first aspects of the present invention, providing inner tray raw materials;

[0034] The distance between the first guide rod mounting plate and the second guide rod mounting plate is adjusted by the first adjusting member and the second adjusting member, so that the material storage area is adapted to the size of the inner tray raw materials; then the inner tray raw materials are loaded into the material storage area at a predetermined angle, and the inner tray raw materials are fixed in stacks above the material discharge station under the action of gravity and guided by the material guide rack;

[0035] The material intercepting mechanism is started, and the intercepting plate is driven to approach the material discharge port through the intercepting control member to intercept the inner tray near the material discharge port;

[0036] The clamping mechanism is started, and the first clamping plate and the second clamping plate are driven to move away from each other through the first clamping control member and the second clamping control member, so that the inner tray raw materials are released, and the inner tray raw materials fall to the discharge port under the action of gravity; then, the first clamping plate and the second clamping plate are driven to move closer to each other through the first clamping control member and the second clamping control member, so as to clamp the inner tray raw materials except the end inner tray; at this time, the inner tray at the end of the inner tray raw materials is intercepted by the blocking mechanism, and the inner tray raw materials except the end inner tray are clamped by the clamping mechanism;

[0037] The servo motor is started to drive the lifting and rotating adsorption device to switch to the first state through the lifting and rotating driving device. At this time, a plurality of vacuum suction cups on the lifting and rotating adsorption device pass through the discharge port to adsorb the inner tray on the discharge station;

[0038] The interception control member drives the interception plate away from the discharge port to release the inner tray at the end;

[0039] The lifting and rotating adsorption device is driven to switch to the second state by the lifting and rotating driving device, so that the inner tray adsorbed on the vacuum suction cup is pressed into the food cavity of the container.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The automatic tray-feeding machine of the present invention provides a material storage function by arranging a material support trough assembly, so that the raw materials of the inner tray can be directly stacked in the material support trough assembly. During the operation of the equipment, as the inner tray is gradually consumed, the raw materials of the inner tray automatically fall to the top of the material discharge station under the action of gravity, so as to realize the continuous supply of raw materials of the inner tray; the lifting and rotating adsorption device is driven by the lifting and rotating driving device to switch to the first state, at which time the lifting and rotating adsorption device adsorbs the inner tray on the material discharge station, and the lifting and rotating driving device drives the lifting and rotating adsorption device to switch to the second state, and presses the inner tray into the container food cavity, and so on and so forth, so as to complete the inner tray loading task at a high speed and high efficiency, thereby reducing the need for manual operation, improving production efficiency, and ensuring the consistency of container food filling and the stability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural schematic diagram of the automatic tray throwing machine of the present invention;

[0043] Figure 2 It is a front view of the automatic tray throwing machine of the present invention;

[0044] Figure 3 It is a side view of the automatic tray throwing machine of the present invention;

[0045] Figure 4 A top view of the automatic tray-dropping machine of the present invention;

[0046] Figure 5 It is a structural schematic diagram of the support trough assembly of the automatic support feeding machine of the present invention;

[0047] Figure 6 It is a front view of the bracket trough assembly of the automatic bracket delivery machine of the present invention;

[0048] Figure 7 A top view of a support trough assembly of the automatic support delivery machine of the present invention;

[0049] Figure 8 It is a side view of the bracket trough assembly of the automatic bracket delivery machine of the present invention;

[0050] Fig. 9 It is a structural schematic diagram of the material grabbing and delivering component of the automatic tray-delivering machine of the present invention;

[0051] Fig.10It is a front view of the material grabbing and delivering component of the automatic tray delivery machine of the present invention;

[0052] Fig.11 It is a top view of the material grabbing and delivering component of the automatic tray-delivering machine of the present invention;

[0053] Fig.12 It is a structural schematic diagram of the suction cup shaft of the automatic tray throwing machine of the present invention;

[0054] Fig.13 It is a front view of the lifting and rotating driving device of the automatic tray throwing machine of the present invention;

[0055] Fig.14 It is a structural schematic diagram of the lifting and rotating driving device of the automatic tray throwing machine of the present invention;

[0056] Fig.15 A front view of the lifting and rotating driving device of the automatic tray-dropping machine of the present invention from another angle;

[0057] Fig.16 It is a side view of the lifting and rotating driving device of the automatic tray throwing machine of the present invention;

[0058] Fig.17 It is a structural schematic diagram of a rotating cam positioning plate of the automatic tray-dropping machine of the present invention;

[0059] Fig.18 A front view of the connection track plate of the automatic tray-dropping machine of the present invention;

[0060] Fig.19 It is a structural schematic diagram of the connection track plate of the automatic tray throwing machine of the present invention;

[0061] Fig. 20 It is a schematic diagram of the use status of the rotating cam positioning plate and the connecting track plate of the automatic tray throwing machine of the present invention.

[0062] In the figure: 11, main support frame; 12, first support frame; 121, first lifting slot; 122, first sliding device; 1221, first slide plate; 13, second support frame; 131, second lifting slot; 132, second sliding device; 1321, second slide plate; 20, material trough assembly; 21, material trough mechanism; 211, first enclosure; 212, second enclosure; 213, material trough bottom plate; 214, first horizontal mounting plate; 215, second horizontal mounting plate; 216, connecting vertical rod; 217, first guide rod mounting plate; 218, second guide rod mounting plate; 219, material guide rod; 221, first adjusting member; 222, second adjusting member; 22, material clamping mechanism; 23, intercepting mechanism; 30 , material grabbing and delivering assembly; 31, lifting and rotating adsorption device; 311, suction cup shaft; 3111, first end; 3112, second end; 312, adsorption fixture; 32, lifting and rotating driving device; 321, servo motor; 322, lifting cam; 323, lifting connecting rod; 324, rotating cam positioning plate; 3241, upper positioning pin; 3242, lower positioning pin; 3243, rotating positioning pin; 325, connecting track plate; 3251, fixing hole; 3252, lifting and limiting slide groove; 3253, rotating engagement slot; 326, connecting column; 33, lifting linkage device; 331, linkage shaft; 332, lifting linkage cam; 333, lifting linkage rod; 40, platform assembly. DETAILED DESCRIPTION

[0063] Below, in conjunction with the accompanying drawings and specific embodiments, the invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except as otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0064] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0065] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0066] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0067] Example 1

[0068] Please refer to Figure 1-20 , this embodiment provides an automatic tray throwing machine, including a frame, and a material holding trough assembly 20 and a material grabbing and throwing assembly 30 installed on the frame;

[0069] The frame of this embodiment is composed of several sheet metals and profiles. The bottom of the frame is fixed to the ground by ground nails and horizontal adjustment parts. It mainly plays a supporting and connecting role and provides an installation foundation for other components. Specifically, the frame includes a main support frame 11, and the first support frame 12 and the second support frame 13 are respectively arranged on opposite sides of the main support frame 11. A conveying channel for the bowl material conveyor to pass through is formed between the main support frame 11, the first support frame 12 and the second support frame 13; a plurality of material discharge stations are formed at the bottom of the main support frame 11, and the plurality of material discharge stations are linearly arrayed in the length direction of the main support frame 11;

[0070] The support trough assembly 20 is disposed on the main support frame 11, and the support trough assembly 20 is used to fix the inner tray raw material above the discharge station;

[0071] The material grabbing and delivering assembly 30 includes a lifting and rotating adsorption device 31 and a lifting and rotating driving device 32; the lifting and rotating adsorption device 31 is arranged below the main support frame 11, and the lifting and rotating driving device 32 is arranged on the first support frame 12; the lifting and rotating driving device 32 is used to drive the lifting and rotating adsorption device 31 to switch between a first state and a second state, and the lifting and rotating adsorption device 31 is used to adsorb the inner tray on the material discharging station in the first state, and the lifting and rotating adsorption device 31 is used to press the inner tray into the food cavity of the container in the second state.

[0072] Based on the above structure, when in use, the storage function is provided by the trough assembly 20, and the inner tray raw materials can be directly stacked in the trough assembly 20. During the operation of the equipment, as the inner tray is gradually consumed, the inner tray raw materials automatically fall to the top of the discharge station under the action of gravity, so as to realize the continuous supply of inner tray raw materials; the lifting and rotating adsorption device 31 is driven by the lifting and rotating drive device 32 to switch to the first state, at which time the lifting and rotating adsorption device 31 adsorbs the inner tray on the discharge station, and the lifting and rotating drive device 32 drives the lifting and rotating adsorption device 31 to switch to the second state, and presses the inner tray into the container food cavity, and so on and so forth, completing the inner tray loading task at high speed and high efficiency, reducing the need for manual operation, improving production efficiency, and ensuring packaging consistency and product stability.

[0073] Furthermore, the material trough assembly 20 of the present embodiment includes a material trough mechanism 21, which mainly provides storage space for the raw materials in the inner tray; specifically, the material trough mechanism 21 includes a material discharge trough, a material trough mounting frame and a material guide frame.

[0074] The material discharge trough includes a first enclosure 211, a second enclosure 212 and a trough bottom plate 213; the trough bottom plate 213 has a linear array of discharge ports for the inner pallet to pass through, and the discharge ports are arranged above the discharge station, and the first enclosure 211 and the second enclosure 212 are fixed on opposite sides above the trough bottom plate 213.

[0075] The trough mounting frame includes a first transverse mounting plate 214, a second transverse mounting plate 215 and a connecting vertical rod 216. The first transverse mounting plate 214 is fixed to the top of the first enclosure 211 through the connecting vertical rod 216, and the second transverse mounting plate 215 is fixed to the top of the second enclosure 212 through the connecting vertical rod 216. The number of the first transverse mounting plate 214 and the second transverse mounting plate 215 can be set in multiple groups according to the storage requirements of the raw materials in the inner tray.

[0076] The guide rack includes a first guide rod mounting plate 217, a second guide rod mounting plate 218 and a guide rod 219; the first guide rod mounting plate 217 is connected to the first transverse mounting plate 214, and the second guide rod mounting plate 218 is connected to the second transverse mounting plate 215; a plurality of guide rods 219 are fixed on the opposite side of the first guide rod mounting plate 217 and the second guide rod mounting plate 218; so that a storage area for placing the inner tray raw materials is formed between the guide rod 219 fixed to the first guide rod mounting plate 217 and the guide rod 219 fixed to the second guide rod mounting plate 218. The inner tray raw material placement storage area formed by the guide rod 219 can adapt to inner tray raw materials of different shapes and specifications, and has strong applicability.

[0077] A first adjusting member 221 is provided at the connection between the first guide rod mounting plate 217 and the first transverse mounting plate 214, and a second adjusting member 222 is provided at the connection between the second guide rod mounting plate 218 and the second transverse mounting plate 215, so that the first guide rod mounting plate 217 and the second guide rod mounting plate 218 can be close to or away from each other. The first adjusting member 221 and the second adjusting member 222 of this embodiment can be realized by cooperating with a groove and a bolt. By adjusting the relative distance between the first guide rod mounting plate 217 and the second guide rod mounting plate 218, the width of the storage area for placing the raw materials of the inner pallet can be controlled to adapt to the raw materials of the inner pallet of different sizes and specifications. If the production line needs to change the specifications of the pallet, it can realize the rapid switching configuration and save the adjustment time. The width of the storage area on each material discharge station can be independently controlled, which can not only realize the task of placing the inner pallets of the same batch, but also realize the task of placing the inner pallets of different specifications. It is more flexible and can adapt to different production needs.

[0078] In some embodiments, the lifting and rotating adsorption device 31 directly grabs the inner tray raw material at the bottom of the trough assembly 20, and relies on the elastic deformation of the inner tray raw material itself to separate the inner tray raw material from the trough assembly 20 and pull it down; this method will cause certain damage to the inner tray, especially for some inner tray raw materials with harder materials, it is also easy to fail to place the inner tray at a certain station due to the jamming of the inner tray, and the machine must be shut down for maintenance. Based on this, the trough assembly 20 of this embodiment is also provided with a clamping mechanism 22 and an intercepting mechanism 23; the inner tray raw material is clamped and fixed by the clamping mechanism 22 and the intercepting mechanism 23, and the inner tray raw material is continuously and alternately intercepted and released to ensure the orderly and stable supply of the inner tray raw material.

[0079] The interception mechanism 23 is arranged near the discharge port, and the interception mechanism 23 includes an interception plate, and the interception plate is arranged at the edge of the discharge port through an interception control component; the interception plate is driven by the interception control component to approach or move away from the discharge port, so as to intercept or release the inner pallet near the discharge port.

[0080] The clamping mechanism 22 includes a first clamping plate and a second clamping plate, wherein the first clamping plate is connected to the first enclosure 211 through a first clamping control member, and the second clamping plate is connected to the second enclosure 212 through a second clamping control member, and the first clamping plate and the second clamping plate are arranged opposite to each other; the first clamping control member and the second clamping control member drive the first clamping plate and the second clamping plate to approach each other to clamp the inner tray raw material in the discharge trough; the first clamping control member and the second clamping control member drive the first clamping plate and the second clamping plate to move away from each other to release the inner tray raw material in the discharge trough, so that the inner tray at the end falls to the discharge port under the action of gravity. The interception control member, the first clamping control member and the second clamping control member can all be realized by electromagnetic control valves or other control valves, and the clamping mechanism 22 and the interception mechanism 23 can respond quickly by the on-off control of the electromagnetic control valve to ensure the orderly and stable supply of the inner tray raw material.

[0081] In this embodiment, a first lifting slot 121 is vertically formed on the first support frame 12 ; a second lifting slot 131 is vertically formed on the second support frame 13 ; the first lifting slot 121 and the second lifting slot 131 are arranged opposite to each other for installation of the lifting and rotating adsorption device 31 .

[0082] The lifting and rotating adsorption device 31 includes a suction cup shaft 311 and an adsorption fixture 312; the two ends of the suction cup shaft 311 respectively form a first end 3111 and a second end 3112, the first end 3111 is inserted into the first lifting slot 121, and the second end 3112 is inserted into the second lifting slot 131; the adsorption fixture 312 is fixed to the suction cup shaft 311 through a suction cup mounting plate; a plurality of adsorption fixtures 312 are linearly arrayed in the length direction of the suction cup shaft 311; the adsorption fixture 312 includes a vacuum suction cup and a connecting pipe; one end of the connecting pipe is connected to the vacuum suction cup, and the other end is used to connect to the vacuum pump unit; by turning on or off the vacuum of the adsorption fixture 312, the inner tray is adsorbed or released. The adsorption fixture 312 also includes a buffer spring, which is sleeved on the connecting pipe, one end of which is connected to the vacuum suction cup, and the other end of which is against the suction cup mounting plate. The buffer spring provides elasticity to the adsorption fixture 312 so that the vacuum suction cup can better fit the inner tray material, thereby improving the grasping stability of the inner tray and avoiding damage to the inner tray through flexible contact.

[0083] Furthermore, a first sliding device 122 is provided between the first end 3111 of the suction cup shaft 311 and the first support frame 12, and the first sliding device 122 includes a first slide plate 1221, and both ends of the first slide plate 1221 are connected to the first support frame 12 through slide rails, so that the first slide plate 1221 can move back and forth in the vertical direction relative to the first support frame 12; the first end 3111 of the suction cup shaft 311 is connected to the first slide plate 1221 through a bearing mounting seat;

[0084] A second sliding device 132 is arranged between the second end 3112 of the suction cup shaft 311 and the second support frame 13, and the second sliding device 132 includes a second slide plate 1321. Both ends of the second slide plate 1321 are connected to the second support frame 13 through slider guides, so that the second slide plate 1321 can move back and forth in the vertical direction relative to the two support frames; the second end 3112 of the suction cup shaft 311 is connected to the second slide plate 1321 through a bearing mounting seat.

[0085] The lifting and rotating driving device 32 of the present embodiment includes a servo motor 321, a lifting cam 322 and a lifting connecting rod 323; the servo motor 321 is fixed to the first support frame 12 through a motor mounting seat; the lifting cam 322 is rotatably connected to the first support frame 12 through a rotating shaft; one end of the lifting connecting rod 323 is connected to the lifting cam 322, and the other end is connected to the first slide plate 1221; the servo motor 321 is connected to the rotating shaft of the lifting cam 322 through a synchronous belt pulley transmission member, and the servo motor 321 provides power to drive the lifting cam 322 to rotate, and the first slide plate 1221 is driven to rise and fall through the lifting connecting rod 323;

[0086] The lifting and rotating driving device 32 also includes a rotating cam positioning plate 324 and a connecting track plate 325; the rotating cam positioning plate 324 is fixed to the first support frame 12 through a connecting column 326, and the rotating cam positioning plate 324 has an upper positioning pin 3241, a lower positioning pin 3242 and a rotating positioning pin 3243, and a plurality of the rotating positioning pins 3243 are arranged on one side of the line connecting the upper positioning pin 3241 and the lower positioning pin 3242;

[0087] The connection track plate 325 has a fixing hole 3251, and the connection track plate 325 is connected to the first end 3111 of the suction cup shaft 311 through the fixing hole 3251; the connection track plate 325 is provided with a lifting limit slide groove 3252 and a rotation engagement slot 3253, and the lifting limit slide groove 3252 and the rotation slot are respectively arranged on both sides of the fixing hole 3251; the connection track plate 325 is driven to rotate by the engagement of the rotation engagement slot 3253 with the rotation positioning pin 3243, so that the suction cup shaft 311 rotates 180°; the lifting limit slide groove 3252 is used to slide with the upper positioning pin 3241 or the lower positioning pin 3242 to limit the rotation of the connection track plate 325;

[0088] Based on the above structure, the lifting and rotating drive device 32 drives the lifting and rotating adsorption device 31 to switch to the first state, that is, the servo motor 321 drives the first slide plate 1221 to rise through the cooperation of the lifting cam 322 and the lifting connecting rod 323, that is, drives the suction cup shaft 311 to move upward. After the suction cup shaft 311 moves upward to a certain extent, the lifting limit slide groove 3252 cooperates with the upper positioning pin 3241 to limit the rotation of the connecting track plate 325. At this time, the suction cup shaft 311 fixedly connected to the connecting track plate 325 no longer rotates, and the adsorption clamp 312 fixed on the suction cup shaft 311 is vertically upward to adsorb and grab the inner tray of the discharge port. Subsequently, the lifting and rotating adsorption device 31 is driven to switch to the second state through the lifting and rotating driving device 32, that is, the suction cup shaft 311 moves downward by one end distance until the lifting limit slide groove 3252 is disengaged from the upper positioning pin 3241, and the rotating engagement slot 3253 is engaged with the rotating positioning pin 3243, driving the connection track plate 325 to rotate, thereby rotating the suction cup shaft 311 and the adsorption clamp 312 by 180°, and after the rotation is completed, the lifting and limiting slide groove 3252 and the lower positioning pin 3242, the suction cup shaft 311 drives the adsorption clamp 312 vertically downward to press the inner tray into the food cavity of the container. In this embodiment, the track plate 325 is connected to the rotating cam positioning plate 324 to ensure that the suction cup shaft 311 can drive the adsorption clamp 312 to remain stable during the adsorption or release process during the lifting process. The adsorption surface or release surface of the adsorption clamp 312 always remains parallel to the inner tray, and it only starts to rotate 180 degrees when it is out of the adsorption or release position, that is, in the middle of the lifting process, to ensure the effectiveness of the adsorption clamp 312, so that the inner tray can be transferred from the discharge port to the food cavity of the container without damage and in a stable manner.

[0089] The material grabbing and delivering assembly 30 of the present embodiment further includes a lifting linkage device 33, the lifting linkage device 33 includes a linkage shaft 331, a lifting linkage cam 332 and a lifting linkage rod 333; the lifting linkage cam 332 is rotatably connected to the second support frame 13 via a rotating shaft; one end of the lifting linkage rod 333 is connected to the lifting linkage cam 332, and the other end is connected to the second slide plate 1321;

[0090] One end of the linkage shaft 331 is rotationally connected to the first support frame 12, and the other end is rotationally connected to the second support frame 13; the end of the linkage shaft 331 close to the first support frame 12 is connected to the rotating shaft of the lifting cam 322 through a synchronous belt pulley transmission component, and the end of the linkage shaft 331 close to the second support frame 13 is connected to the rotating shaft of the lifting linkage cam 332 through a synchronous belt pulley transmission component; the lifting linkage cam 332 is driven to rotate synchronously with the lifting cam 322 through the linkage shaft 331, thereby realizing the synchronous lifting and lowering of the second slide plate 1321 and the first slide plate 1221.

[0091] In some other embodiments, as a variation of the lifting linkage device 33, the lifting linkage cam 332 is independently provided with a servo motor, and the lifting linkage cam 332 is driven by the servo motor to rotate synchronously with the lifting cam 322, thereby realizing the synchronous lifting of the second slide 1321 and the first slide 1221, which has the advantage of simple structure and can be implemented by technical personnel in this field according to actual needs.

[0092] Furthermore, a platform assembly 40 is included, and the platform assembly 40 includes a filling platform and a filling step. The filling platform is arranged on one side of the main support frame 11, and the filling step is arranged at one end of the filling platform; guardrails are arranged on the filling platform and the seasoning step. The platform assembly 40 is arranged to facilitate the filling of the raw materials in the inner tray.

[0093] Embodiment 2:

[0094] This embodiment provides a container food filling system based on the embodiment 1, including the automatic tray loading machine as described in the embodiment 1;

[0095] It also includes a bowl material conveyor, which is passed through the conveying channel formed by the main support frame 11, the first support frame 12 and the second support frame 13. The bowl material conveyor is provided with a supporting station; the supporting station is arranged below the material discharge station; the bowl material conveyor drives the container bowl materials to pass through the supporting station in turn to receive the inner tray dropped by the automatic tray dropping machine.

[0096] Embodiment 3:

[0097] This embodiment provides an automatic tray placing method for placing raw materials in an inner tray using the automatic tray placing machine described in Embodiment 1, which specifically includes the following steps:

[0098] Step S1: providing the automatic tray-dropping machine as described in any one of claims 1 to 8, and providing inner tray raw materials;

[0099] Step S2: adjusting the distance between the first guide rod mounting plate 217 and the second guide rod mounting plate 218 by means of the first adjusting member 221 and the second adjusting member 222, so that the material storage area is adapted to the size of the inner tray raw materials; then, the inner tray raw materials are loaded into the material storage area, and the inner tray raw materials are fixed in stacks above the material discharge station under the action of gravity and guided by the material guide rack;

[0100] Step S3: starting the material intercepting mechanism, driving the intercepting plate to approach the material discharging port through the intercepting control member, and intercepting the inner tray close to the material discharging port;

[0101] Step S4: Start the clamping mechanism 22, and drive the first clamping plate and the second clamping plate to move away from each other through the first clamping control member and the second clamping control member, release the inner tray raw material, and make the inner tray raw material fall to the discharge port under the action of gravity; then drive the first clamping plate and the second clamping plate to move closer to each other through the first clamping control member and the second clamping control member, and clamp the inner tray raw material except the end inner tray; at this time, the inner tray at the end of the inner tray raw material is intercepted by the blocking mechanism, and the inner tray raw material except the end inner tray is clamped by the clamping mechanism 22;

[0102] Step S5: starting the servo motor 321, driving the lifting and rotating adsorption device 31 to switch to the first state through the lifting and rotating driving device 32, at which time a plurality of vacuum suction cups on the lifting and rotating adsorption device 31 pass through the discharge port to adsorb the inner tray on the discharge station;

[0103] Step S6: The interception control member drives the interception plate away from the discharge port to release the inner tray at the end;

[0104] Step S7: The lifting and rotating adsorption device 31 is driven to switch to the second state by the lifting and rotating driving device 32, and the inner tray adsorbed on the vacuum suction cup is pressed into the food cavity of the container.

[0105] In some preferred embodiments, step S6 also includes determining whether the food cavity of the container is qualified. If the food cavity of the container is qualified, the interception control component drives the interception plate away from the discharge port to release the inner tray at the end; if the food cavity of the container is unqualified, the interception plate remains close to the discharge port to intercept the inner tray at the end.

[0106] By judging the qualified food cavity of the container, the inner tray of the unqualified food cavity of the container is refused to be put in, thus saving the cost of raw materials.

[0107] In some preferred embodiments, step S2 further includes loading the inner tray raw material into the storage area at a preset angle.

[0108] By controlling the feeding angle of the inner tray raw material, the inner tray raw material can be placed in the container food cavity at a fixed angle; this is particularly important for some specific products with specific patterns or structures printed on the inner tray, and the specific pattern or structure on the inner tray can be aligned with the front of the container, which has certain commercial value. The above embodiments are only preferred embodiments of the present invention, and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention belong to the scope of protection required by the present invention.

Claims

1. An automatic tray-dropping machine, characterized in that: It includes a frame, a material support trough component and a material grabbing and placing component; The frame includes a main support frame, a first support frame and a second support frame are respectively arranged on opposite sides of the main support frame, and a conveying channel for a bowl material conveyor to pass through is formed between the main support frame, the first support frame and the second support frame; a plurality of material discharge stations are formed at the bottom of the main support frame, and the plurality of material discharge stations are linearly arrayed in the length direction of the main support frame; The support trough assembly is arranged on the main support frame, and the support trough assembly is used to fix the inner tray raw material above the discharge station; The material grabbing and delivering assembly includes a lifting and rotating adsorption device and a lifting and rotating driving device; the lifting and rotating adsorption device is arranged below the main support frame, and the lifting and rotating driving device is arranged on the first support frame; the lifting and rotating driving device is used to drive the lifting and rotating adsorption device to switch between a first state and a second state, and the lifting and rotating adsorption device is used to adsorb the inner tray above the material delivery station in the first state, and the lifting and rotating adsorption device is used to press the inner tray into the food cavity of the container in the second state.

2. The automatic tray-dropping machine according to claim 1, characterized in that: The material trough assembly includes a material trough mechanism, and the material trough mechanism includes a material discharge trough, a material trough mounting frame and a material guide frame; The material discharging trough comprises a first enclosing plate, a second enclosing plate and a material trough bottom plate; the material trough bottom plate has a plurality of discharging openings for the inner tray to pass through in a linear array, the discharging openings are arranged above the discharging station, and the first enclosing plate and the second enclosing plate are fixed on opposite sides above the material trough bottom plate; The trough mounting frame includes a first transverse mounting plate, a second transverse mounting plate and a connecting vertical rod, wherein the first transverse mounting plate is fixed above the first enclosure plate through the connecting vertical rod, and the second transverse mounting plate is fixed above the second enclosure plate through the connecting vertical rod; The material guide rack comprises a first guide rod mounting plate, a second guide rod mounting plate and a material guide rod; the first guide rod mounting plate is connected to the first transverse mounting plate, and the second guide rod mounting plate is connected to the second transverse mounting plate; a plurality of material guide rods are fixed on one side opposite to the first guide rod mounting plate and the second guide rod mounting plate; thus, a material storage area for placing raw materials on the inner tray is formed between the material guide rod fixed to the first guide rod mounting plate and the material guide rod fixed to the second guide rod mounting plate; A first adjusting member is provided at the connection between the first guide rod mounting plate and the first transverse mounting plate, and a second adjusting member is provided at the connection between the second guide rod mounting plate and the second transverse mounting plate, so that the first guide rod mounting plate and the second guide rod mounting plate can be closer to or farther away from each other.

3. The automatic tray-dropping machine according to claim 2, characterized in that: The material support trough assembly also includes a material clamping mechanism and an intercepting mechanism; The interception mechanism is arranged near the discharge port, and the interception mechanism comprises an interception plate, and the interception plate is arranged at the edge of the discharge port through an interception control member; the interception control member drives the interception plate to approach or move away from the discharge port, and intercepts or releases the inner pallet near the discharge port; The clamping mechanism includes a first clamping plate and a second clamping plate, the first clamping plate is connected to the first enclosure plate through a first clamping control component, the second clamping plate is connected to the second enclosure plate through a second clamping control component, and the first clamping plate and the second clamping plate are arranged opposite to each other; the first clamping plate and the second clamping plate are driven to approach each other by the first clamping control component and the second clamping control component to clamp the inner tray raw material in the discharge trough; the first clamping plate and the second clamping plate are driven to move away from each other by the first clamping control component and the second clamping control component to release the inner tray raw material in the discharge trough, so that the inner tray at the end falls to the discharge port under the action of gravity.

4. The automatic tray-dropping machine according to claim 1, characterized in that: A first lifting slot is vertically formed on the first support frame; a second lifting slot is vertically formed on the second support frame; The lifting and rotating adsorption device comprises a suction cup shaft and an adsorption fixture; the two ends of the suction cup shaft respectively form a first end and a second end, the first end is inserted into the first lifting slot, and the second end is inserted into the second lifting slot; the adsorption fixture is fixed to the suction cup shaft through a suction cup mounting plate; a plurality of the adsorption fixtures are linearly arrayed in the length direction of the suction cup shaft; The adsorption fixture comprises a vacuum suction cup and a connecting pipe; one end of the connecting pipe is connected to the vacuum suction cup, and the other end is used to connect to the vacuum pump unit; The adsorption fixture also includes a buffer spring, which is sleeved on the connecting pipe, one end of which is connected to the vacuum suction cup, and the other end of which is abutted against the suction cup mounting plate.

5. The automatic tray-dropping machine according to claim 4, characterized in that: A first sliding device is provided between the first end of the suction cup shaft and the first support frame, the first sliding device comprising a first slide plate, both ends of the first slide plate are connected to the first support frame through slide rails, so that the first slide plate can move back and forth in a vertical direction relative to the first support frame; the first end of the suction cup shaft is connected to the first slide plate through a bearing mounting seat; A second sliding device is arranged between the second end of the suction cup shaft and the second support frame, and the second sliding device includes a second slide plate, and both ends of the second slide plate are connected to the second support frame through slider guides, so that the second slide plate can move back and forth in the vertical direction relative to the two support frames; the second end of the suction cup shaft is connected to the second slide plate through a bearing mounting seat.

6. The automatic tray-dropping machine according to claim 5, characterized in that: The lifting and rotating driving device comprises a servo motor, a lifting cam and a lifting connecting rod; the servo motor is fixed to the first support frame through a motor mounting seat; the lifting cam is rotatably connected to the first support frame through a rotating shaft; one end of the lifting connecting rod is connected to the lifting cam, and the other end is connected to the first slide; the servo motor is connected to the rotating shaft of the lifting cam through a synchronous belt pulley transmission member, and the servo motor provides power to drive the lifting cam to rotate, and the first slide is driven to rise and fall through the lifting connecting rod; The lifting and rotating driving device also includes a rotating cam positioning plate and a connecting track plate; the rotating cam positioning plate is fixed to the first supporting frame through a connecting rod, and the rotating cam positioning plate has an upper positioning pin, a lower positioning pin and a rotating positioning pin, and a plurality of the rotating positioning pins are arranged on one side of the line connecting the upper positioning pin and the lower positioning pin; The connecting track plate has a fixing hole, and the connecting track plate is connected to the first end of the suction cup shaft through the fixing hole; the connecting track plate is provided with a lifting limit slide groove and a rotation engagement slot, and the lifting limit slide groove and the rotation slot are respectively arranged on both sides of the fixing hole; the connecting track plate is driven to rotate by the engagement of the rotation engagement slot with the rotation positioning pin, thereby rotating the suction cup shaft 180°; the lifting limit slide groove is used to slide with the upper positioning pin or the lower positioning pin to limit the rotation of the connecting track plate.

7. An automatic tray-dropping machine according to claim 6, characterized in that: The material grabbing and delivering assembly further comprises a lifting linkage device, which comprises a linkage shaft, a lifting linkage cam and a lifting linkage rod; the lifting linkage cam is rotatably connected to the second support frame via a rotating shaft; one end of the lifting linkage rod is connected to the lifting linkage cam, and the other end is connected to the second slide plate; One end of the linkage shaft is rotatably connected to the first support frame, and the other end is rotatably connected to the second support frame; the end of the linkage shaft close to the first support frame is connected to the rotating shaft of the lifting cam through a synchronous belt pulley transmission, and the end of the linkage shaft close to the second support frame is connected to the rotating shaft of the lifting linkage cam through a synchronous belt pulley transmission; the lifting linkage cam is driven to rotate synchronously with the lifting cam through the linkage shaft to achieve synchronous lifting of the second slide plate and the first slide plate.

8. The automatic tray-dropping machine according to claim 1, characterized in that: It also includes a platform component, which includes a filling platform and a filling step. The filling platform is arranged on one side of the main support frame, and the filling step is arranged at one end of the filling platform. Guardrails are arranged on the filling platform and the seasoning step.

9. A container food filling system, characterized in that: An automatic cradle machine as claimed in any one of claims 1 to 8; It also includes a bowl material conveyor, which is arranged in a conveying channel formed by the main support frame, the first support frame and the second support frame, and has a supporting station on the bowl material conveyor; the supporting station is arranged below the material discharge station; the bowl material conveyor drives the container bowl materials to pass through the supporting station in turn to receive the inner tray dropped by the automatic tray dropping machine.

10. An automatic entrustment method, characterized in that: The following steps are involved: Providing an automatic tray-dropping machine as claimed in any one of claims 1 to 8, providing inner tray raw materials; The distance between the first guide rod mounting plate and the second guide rod mounting plate is adjusted by the first adjusting member and the second adjusting member, so that the material storage area is adapted to the size of the inner tray raw materials; then the inner tray raw materials are loaded into the material storage area at a predetermined angle, and the inner tray raw materials are fixed in stacks above the material discharge station under the action of gravity and guided by the material guide rack; The material intercepting mechanism is started, and the intercepting plate is driven to approach the material discharging port through the intercepting control member to intercept the inner pallet close to the material discharging port; The clamping mechanism is started, and the first clamping plate and the second clamping plate are driven to move away from each other through the first clamping control member and the second clamping control member, so that the inner tray raw materials are released, and the inner tray raw materials fall to the discharge port under the action of gravity; then, the first clamping plate and the second clamping plate are driven to move closer to each other through the first clamping control member and the second clamping control member, so as to clamp the inner tray raw materials except the end inner tray; at this time, the inner tray at the end of the inner tray raw materials is intercepted by the blocking mechanism, and the inner tray raw materials except the end inner tray are clamped by the clamping mechanism; The servo motor is started to drive the lifting and rotating adsorption device to switch to the first state through the lifting and rotating driving device. At this time, a plurality of vacuum suction cups on the lifting and rotating adsorption device pass through the discharge port to adsorb the inner tray on the discharge station; The interception control member drives the interception plate away from the discharge port to release the inner tray at the end; The lifting and rotating adsorption device is driven to switch to the second state by the lifting and rotating driving device, so that the inner tray adsorbed on the vacuum suction cup is pressed into the food cavity of the container.

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