An automatic depositing machine, a container food filling system, and an automatic depositing method

Abstract

The present invention discloses an automatic tray-feeding machine, a container food filling system and an automatic tray-feeding method. The automatic tray-feeding machine of the present invention includes a frame, a tray material trough assembly and a material-grabbing and placing assembly; the frame includes a main support frame, a first support frame and a second support frame; a plurality of feeding stations are linearly arrayed in the length direction of the main support frame; the tray material trough assembly is arranged on the main support frame and is used for fixing the inner tray raw material above the feeding station; the material-grabbing and placing assembly includes a lifting, rotating and adsorbing device and a lifting, rotating and driving device; the lifting, rotating and driving device is used for driving the lifting, rotating and adsorbing device to switch between a first state and a second state. When the lifting, rotating and adsorbing device is in the first state, it is used for adsorbing the inner tray above the feeding station, and when the lifting, rotating and adsorbing device is in the second state, it is used for pressing and placing the inner tray into the container food cavity. The present invention can realize the automatic placement of the inner tray of the container food, improve the production efficiency, and ensure the consistency of packaging and the stability of products.

Description

Technical Field

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

[0002] A container food filling system is an automated device used to fill food into containers. Such systems are widely used in the food processing and packaging industries to ensure efficient and hygienic filling of food during the production process.

[0003] The design and configuration of a container food filling system vary according to specific food types, production scales, and packaging requirements. With the increasing demands for food, some container foods need to be placed with 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 placing 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 the food in the barrel, reduce friction and collision, reduce breakage and damage, and at the same time make the filling of the food more orderly, and can more effectively control the amount and position of the noodles during packaging.

[0004] Currently, manual or robotic arms are generally used for the placement of internal trays, but their tray loading efficiency and quality are relatively poor, and the cost is relatively high; there is a lack of an automatic tray loading machine that can be applied to a container food filling system and can place internal trays into containers, which can meet the production requirements 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 deficiencies of the prior art, the present invention provides an automatic tray loading machine, a container food filling system, and an automatic tray loading method, which can meet the production requirements of container foods with built-in trays, realize the automatic placement of internal trays in container foods, improve production efficiency, and ensure packaging consistency and product stability.

[0006] In a first aspect of the present invention, there is provided an automatic tray loading machine, including a frame, a tray feeding trough assembly, and a material grabbing and placing assembly;

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

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

[0009] The material grabbing and placing component 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. When the lifting and rotating adsorption device is in the first state, it is used to adsorb the inner tray above the discharging station, and when the lifting and rotating adsorption device is in the second state, it is used to press and place the inner tray into the container food cavity.

[0010] In the first aspect of the present invention, as a preferred embodiment, the material supporting groove component includes a material groove mechanism, and the material groove mechanism includes a discharging groove, a material groove mounting frame and a guiding frame;

[0011] The discharging groove includes a first enclosing plate, a second enclosing plate and a material groove bottom plate; a plurality of discharging openings for the inner tray to pass through are linearly arranged on the material groove bottom plate, 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 groove bottom plate;

[0012] The material groove mounting frame includes a first transverse mounting plate, a second transverse mounting plate and a connecting vertical rod. The first transverse mounting plate is fixed above the first enclosing plate through the connecting vertical rod, and the second transverse mounting plate is fixed above the second enclosing plate through the connecting vertical rod;

[0013] The guiding frame includes a first guide rod mounting plate, a second guide rod mounting plate and a guiding 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 the guiding rods are fixed on opposite sides of the first guide rod mounting plate and the second guide rod mounting plate; thus, a storage area for placing the inner tray raw materials is formed between the guiding rods fixed on the first guide rod mounting plate and the guiding rods fixed on the second guide rod mounting plate;

[0014] A first adjusting member is arranged at the connection between the first guide rod mounting plate and the first transverse mounting plate, and a second adjusting member is arranged 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 approach or move away from each other.

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

[0016] The intercepting mechanism is arranged close to the discharging opening. The intercepting mechanism includes an intercepting plate, and the intercepting plate is arranged at the edge of the discharging opening through an intercepting control member; the intercepting control member drives the intercepting plate to approach or move away from the discharging opening to intercept or release the inner tray close to the discharging opening;

[0017] The clamping mechanism includes a first clamping plate and a second clamping plate. The first clamping plate is connected to the first enclosing plate through a first clamping control member, and the second clamping plate is connected to the second enclosing plate through a second clamping control member. 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 are used to drive the first clamping plate and the second clamping plate to approach each other, so as to clamp the inner tray raw material in the feeding groove. The first clamping control member and the second clamping control member are used to drive the first clamping plate and the second clamping plate to move away from each other, so as to release the inner tray raw material in the feeding groove, and make the inner tray at the end fall to the feeding port under the action of gravity.

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

[0019] The lifting and rotating adsorption device includes a suction cup shaft and an adsorption clamp; both ends of the suction cup shaft respectively form a first end and a second end. The first end penetrates through the first lifting groove, and the second end penetrates through the second lifting groove; the adsorption clamp is fixed to the suction cup shaft through a suction cup mounting plate; a plurality of the adsorption clamps are linearly arrayed in the length direction of the suction cup shaft;

[0020] The adsorption clamp 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 be connected to the vacuum pump unit;

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

[0022] In the first aspect of the present invention, as a preferred embodiment, a first sliding device is arranged between the first end of the suction cup shaft and the first support frame. The first sliding device includes a first sliding plate. Both ends of the first sliding plate are connected to the first support frame through slider guides, so that the first sliding plate can move back and forth in the vertical direction relative to the first support frame; the first end of the suction cup shaft is connected to the first sliding 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. The second sliding device includes a second sliding plate. Both ends of the second sliding plate are connected to the second support frame through slider guides, so that the second sliding plate can move back and forth in the vertical direction relative to the second support frame; the second end of the suction cup shaft is connected to the second sliding 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 sliding plate; the servo motor is connected to the rotating shaft of the lifting cam through a synchronous pulley transmission member, and the servo motor provides power to drive the lifting cam to rotate, and drives the first sliding plate to lift through the lifting connecting rod.

[0025] The lifting and rotating driving device further includes a rotating cam positioning plate and a connecting track plate; the rotating cam positioning plate is fixed to the first support 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 connection line between 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; a lifting limit chute and a rotating engagement card slot are formed on the connecting track plate, and the lifting limit chute and the rotating card slot are respectively arranged on both sides of the fixing hole; the connecting track plate is driven to rotate by engaging the rotating engagement card slot with the rotating positioning pin, so that the suction cup shaft rotates 180°; the lifting limit chute is used for sliding cooperation 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 grasping and placing assembly further includes a lifting linkage device, and the lifting linkage device includes a linkage shaft, a lifting linkage cam, and a lifting linkage rod; the lifting linkage cam is rotatably connected to the second support frame through 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 sliding 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; one end of the linkage shaft close to the first support frame is connected to the rotating shaft of the lifting cam through a synchronous pulley transmission member, and one 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 pulley transmission member; the lifting linkage cam and the lifting cam are driven to rotate synchronously through the linkage shaft, so as to realize the synchronous lifting of the second sliding plate and the first sliding plate.

[0029] In the first aspect of the present invention, as a preferred embodiment, it also includes a platform assembly, 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 filling 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] Start the interception mechanism, drive the interception plate close to the discharge port through the interception control component, and intercept the inner tray close to the 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 intercepting mechanism, and the inner tray raw materials except the end inner tray are clamped by the clamping mechanism;

[0037] The servo motor is started, and the lifting and rotating adsorption device is driven 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 component drives the interception plate away from the discharge port to release the inner pallet at the end;

[0039] The lifting and rotating driving device drives the lifting and rotating adsorption device to switch to the second state, and presses the inner tray adsorbed on the vacuum suction cup into the container food cavity.

[0040] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0041] For the automatic tray feeding machine of the present invention, by providing a material supporting groove assembly to provide a material storage function, the inner tray raw materials can be directly stacked in the material supporting groove assembly. During the operation of the equipment, as the inner trays are gradually consumed, the inner tray raw materials automatically fall to above the feeding station under the action of gravity, realizing the continuous supply of the inner tray raw materials; the lifting and rotating driving device drives the lifting and rotating adsorption device to switch to the first state. At this time, the lifting and rotating adsorption device adsorbs the inner tray on the feeding 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. In this way, the loading task of the inner tray is completed at high speed and high efficiency, reducing the need for manual operation, improving the production efficiency, and ensuring the consistency of container food filling and the stability of the product. Description of the Drawings

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

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

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

[0045] Figure 4 It is a top view of the automatic tray feeding machine of the present invention;

[0046] Figure 5 It is a schematic structural diagram of the material supporting groove assembly of the automatic tray feeding machine of the present invention;

[0047] Figure 6 It is a front view of the material supporting groove assembly of the automatic tray feeding machine of the present invention;

[0048] Figure 7 It is a top view of the material supporting groove assembly of the automatic tray feeding machine of the present invention;

[0049] Figure 8 It is a side view of the material supporting groove assembly of the automatic tray feeding machine of the present invention;

[0050] Figure 9 It is a schematic structural diagram of the material grasping and placing assembly of the automatic tray feeding machine of the present invention;

[0051] Figure 10 It is a front view of the material grasping and placing assembly of the automatic tray feeding machine of the present invention;

[0052] Figure 11 Top view of the material grasping and placing component of the automatic loading and unloading machine of the present invention;

[0053] Figure 12 Schematic structural view of the suction cup shaft of the automatic loading and unloading machine of the present invention;

[0054] Figure 13 Front view of the lifting and rotating drive device of the automatic loading and unloading machine of the present invention;

[0055] Figure 14 Schematic structural view of the lifting and rotating drive device of the automatic loading and unloading machine of the present invention;

[0056] Figure 15 Front view of the lifting and rotating drive device of the automatic loading and unloading machine of the present invention from another angle;

[0057] Figure 16 Side view of the lifting and rotating drive device of the automatic loading and unloading machine of the present invention;

[0058] Figure 17 Schematic structural view of the rotating cam positioning plate of the automatic loading and unloading machine of the present invention;

[0059] Figure 18 Front view of the connection track plate of the automatic loading and unloading machine of the present invention;

[0060] Figure 19 Schematic structural view of the connection track plate of the automatic loading and unloading machine of the present invention;

[0061] Figure 20 Schematic view of the use state of the rotating cam positioning plate and the connection track plate of the automatic loading and unloading machine of the present invention.

[0062] In the figure: 11, main support frame; 12, first support frame; 121, first lifting groove; 122, first sliding device; 1221, first sliding plate; 13, second support frame; 131, second lifting groove; 132, second sliding device; 1321, second sliding plate; 20, material supporting groove assembly; 21, material groove mechanism; 211, first enclosing plate; 212, second enclosing plate; 213, material groove bottom plate; 214, first transverse mounting plate; 215, second transverse mounting plate; 216, connecting vertical rod; 217, first guide rod mounting plate; 218, second guide rod mounting plate; 219, material guiding rod; 221, first adjusting member; 222, second adjusting member; 22, material clamping mechanism; 23, intercepting mechanism; 30, material grasping and placing assembly; 31, lifting, rotating and adsorbing 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 limit sliding groove; 3253, rotating meshing card slot; 326, connecting column; 33, lifting linkage device; 331, linkage shaft; 332, lifting linkage cam; 333, lifting linkage rod; 40, platform assembly. Detailed implementation manners

[0063] Next, in combination with the accompanying drawings and specific implementation manners, the invention will be further described. It should be noted that, on the premise of no conflict, the following-described embodiments or technical features can be arbitrarily combined with each other to form new embodiments. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and should not be construed as a limitation to the present application.

[0064] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying 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 orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0065] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "connected", "communicated", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, or it can be connected through an intermediate medium. It can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0066] The terms "first", "second", etc. in the description, claims, and above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily have to be 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 does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0067] Embodiment 1:

[0068] Please refer to Figure 1-20 , this embodiment provides an automatic feeding machine, which includes a frame, and a material supporting groove assembly 20 and a material grabbing and placing assembly 30 installed on the frame;

[0069] Frame. The frame of this embodiment is composed of several sheet metals and profiles. The bottom of the frame is fixed to the ground through ground nails and horizontal adjusting parts, mainly playing a supporting and connecting role, and providing an installation basis for other components. Specifically, the frame includes a main support frame 11. On both opposite sides of the main support frame 11, a first support frame 12 and a second support frame 13 are respectively arranged. 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 placing stations are formed at the bottom of the main support frame 11, and the plurality of material placing stations are linearly arrayed in the length direction of the main support frame 11;

[0070] The material supporting groove assembly 20 is arranged on the main support frame 11, and the material supporting groove assembly 20 is used to fix the inner tray raw material above the material placing station;

[0071] The material grabbing and placing 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. When the lifting and rotating adsorption device 31 is in the first state, it is used to adsorb the inner tray on the material placing station, and when the lifting and rotating adsorption device 31 is in the second state, it is used to press and place the inner tray into the container food cavity.

[0072] Based on the above structure, during use, the stock-holding trough assembly 20 provides a stock-holding function. The inner tray raw materials can be directly stacked in the stock-holding trough assembly 20. During the operation of the equipment, as the inner trays are gradually consumed, the inner tray raw materials automatically fall to above the blanking station under the action of gravity, realizing the continuous supply of the inner tray raw materials. The lifting and rotating driving device 32 drives the lifting and rotating adsorption device 31 to switch to the first state. At this time, the lifting and rotating adsorption device 31 adsorbs the inner tray on the blanking station. The lifting and rotating driving device 32 drives the lifting and rotating adsorption device 31 to switch to the second state, and presses the inner tray into the food cavity of the container. In this way, the inner tray loading task is completed at high speed and high efficiency, reducing the need for manual operation, improving production efficiency, and ensuring the consistency of packaging and the stability of products.

[0073] Furthermore, the stock-holding trough assembly 20 of this embodiment includes a trough mechanism 21, and the trough mechanism 21 mainly provides a storage space for the inner tray raw materials. Specifically, the trough mechanism 21 includes a blanking trough, a trough mounting frame, and a guiding frame.

[0074] The blanking trough includes a first enclosing plate 211, a second enclosing plate 212, and a trough bottom plate 213. A number of blanking openings for the inner trays to pass through are linearly arranged on the trough bottom plate 213. The blanking openings are arranged above the blanking station. The first enclosing plate 211 and the second enclosing plate 212 are fixed on opposite sides above the trough bottom plate 213.

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

[0076] The guiding frame includes a first guide rod mounting plate 217, a second guide rod mounting plate 218, and a guiding rod 219. The first guide rod mounting plate 217 is connected to the first horizontal mounting plate 214. The second guide rod mounting plate 218 is connected to the second horizontal mounting plate 215. A number of the guiding rods 219 are fixed on opposite sides of the first guide rod mounting plate 217 and the second guide rod mounting plate 218. Thus, a storage area for placing the inner tray raw materials is formed between the guiding rods 219 fixed on the first guide rod mounting plate 217 and the guiding rods 219 fixed on the second guide rod mounting plate 218. The storage area for placing the inner tray raw materials formed by the guiding rods 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 approach or move away from each other. The first adjusting member 221 and the second adjusting member 222 in this embodiment can be realized by the cooperation of a slotted 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 inner tray raw materials can be controlled to adapt to inner tray raw materials of different size specifications. If the production line needs to replace the tray specifications, quick configuration switching can be achieved, saving the machine adjustment time. The width of the storage area at each feeding station can be independently controlled, which can not only complete the feeding task of inner trays of the same batch, but also complete the feeding tasks of inner trays of different specifications, with strong flexibility and adaptability to different production requirements.

[0078] In some embodiments, the lifting and rotating adsorption device 31 directly grabs the inner tray raw materials at the bottom of the material supporting groove assembly 20, and relies on the elastic deformation generated by the inner tray raw materials themselves to separate the inner tray raw materials from the material supporting groove assembly 20 and pull them 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 cause the inner tray to get stuck at a certain station and the tray feeding to fail, and the machine must be stopped for maintenance. Based on this, the material supporting groove assembly 20 of this embodiment is further provided with a clamping mechanism 22 and an intercepting mechanism 23; the clamping mechanism 22 and the intercepting mechanism 23 are used to clamp and fix the inner tray raw materials, and through the continuous alternating intercepting and releasing actions, the orderly and stable supply of the inner tray raw materials is ensured.

[0079] The intercepting mechanism 23 is arranged close to the discharging port. The intercepting mechanism 23 includes an intercepting plate, and the intercepting plate is arranged at the edge of the discharging port through an intercepting control member; the intercepting control member drives the intercepting plate to approach or move away from the discharging port to intercept or release the inner tray close to the discharging port.

[0080] The material clamping mechanism 22 includes a first clamping plate and a second clamping plate. The first clamping plate is connected to the first surrounding plate 211 through a first clamping control member, and the second clamping plate is connected to the second surrounding plate 212 through a second clamping control member. 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 by the first clamping control member and the second clamping control member to approach each other, so as to clamp the inner tray raw material in the feeding groove. The first clamping plate and the second clamping plate are driven by the first clamping control member and the second clamping control member to move away from each other, so as to release the inner tray raw material in the feeding groove, and the inner tray at the end falls to the feeding 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 through an electromagnetic control valve or other control valves. The on-off of the electromagnetic control valve is used to control the quick response of the material clamping mechanism 22 and the interception mechanism 23, so as to ensure the orderly and stable supply of the inner tray raw material.

[0081] In the first support frame 12 of this embodiment, a first lifting groove 121 is vertically opened; in the second support frame 13, a second lifting groove 131 is vertically opened; the first lifting groove 121 and the second lifting groove 131 are arranged opposite to each other for installing 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; both ends of the suction cup shaft 311 respectively form a first end 3111 and a second end 3112. The first end 3111 penetrates through the first lifting groove 121, and the second end 3112 penetrates through the second lifting groove 131; the adsorption fixture 312 is fixed to the suction cup shaft 311 through a suction cup mounting plate; a plurality of the 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 for connecting to the vacuum pump unit; by applying or cutting off the vacuum to the adsorption fixture 312, the inner tray is adsorbed or released. The adsorption fixture 312 further includes a buffer spring, and the buffer spring is sleeved on the connecting pipe. One end of the buffer spring is connected to the vacuum suction cup, and the other end abuts against the suction cup mounting plate. The buffer spring provides elasticity for the adsorption fixture 312, so that the vacuum suction cup can better fit the inner tray raw material, improving the grasping stability of the inner tray, and at the same time avoiding damage to the inner tray through flexible contact.

[0083] Further, a first sliding device 122 is provided between the first end portion 3111 of the suction cup shaft 311 and the first support frame 12. The first sliding device 122 includes a first sliding plate 1221. Both ends of the first sliding plate 1221 are connected to the first support frame 12 through slider guides, so that the first sliding plate 1221 can reciprocate relative to the first support frame 12 in the vertical direction; the first end portion 3111 of the suction cup shaft 311 is connected to the first sliding plate 1221 through a bearing mounting seat;

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

[0085] The lifting and rotating drive device 32 of this 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 sliding plate 1221; the servo motor 321 is connected to the rotating shaft of the lifting cam 322 through a synchronous pulley transmission member, and the servo motor 321 provides power to drive the lifting cam 322 to rotate, and drives the first sliding plate 1221 to lift through the lifting connecting rod 323;

[0086] The lifting and rotating drive device 32 further includes a rotating cam positioning plate 324 and an engagement track plate 325; the rotating cam positioning plate 324 is fixed to the first support frame 12 through a connecting column 326. The rotating cam positioning plate 324 has an upper positioning pin 3241, a lower positioning pin 3242 and a rotating positioning pin 3243. 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 connecting track plate 325 has a fixing hole 3251, and the connecting track plate 325 is connected to the first end 3111 of the suction cup shaft 311 through the fixing hole 3251; a lifting limit sliding groove 3252 and a rotation meshing card slot 3253 are formed on the connecting track plate 325, and the lifting limit sliding groove 3252 and the rotation card slot are respectively arranged on both sides of the fixing hole 3251; the rotation of the connecting track plate 325 is driven by the meshing of the rotation meshing card slot 3253 and the rotation positioning pin 3243, so that the suction cup shaft 311 rotates 180°; the lifting limit sliding groove 3252 is used for slidingly cooperating with the upper positioning pin 3241 or the lower positioning pin 3242 to limit the rotation of the connecting track plate 325.

[0088] Based on the above structure, the lifting and rotating driving 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 rotation of the connecting track plate 325 is restricted by the cooperation of the lifting limit sliding groove 3252 and the upper positioning pin 3241. At this time, the suction cup shaft 311 fixedly connected to the connecting track plate 325 stops rotating, and the adsorption fixture 312 fixed on the suction cup shaft 311 is vertically upward to adsorb and grab the inner tray at the feeding port. Subsequently, the lifting and rotating driving device 32 drives the lifting and rotating adsorption device 31 to switch to the second state, that is, the suction cup shaft 311 moves downward a certain distance until the lifting limit sliding groove 3252 is disengaged from the upper positioning pin 3241. At this time, the rotation meshing card slot 3253 is meshed with the rotation positioning pin 3243 to drive the connecting track plate 325 to rotate, so that the suction cup shaft 311 and the adsorption fixture 312 rotate 180°. After the rotation is completed, the lifting limit sliding groove 3252 and the lower positioning pin 3242, and the suction cup shaft 311 drives the adsorption fixture 312 to be vertically downward to press and place the inner tray into the food cavity of the container. In this embodiment, through the cooperation of the connecting track plate 325 and the rotating cam positioning plate 324, it is realized that during the lifting process of the suction cup shaft 311, the adsorption fixture 312 can be kept stable during the adsorption or release process, and the adsorption surface or release surface of the adsorption fixture 312 is always parallel to the inner tray. It starts to rotate 180 degrees only in the middle section of the lifting process, that is, the position where the adsorption or release is disengaged, to ensure the effectiveness of the adsorption fixture 312, so that the inner tray can be transferred from the feeding port to the food cavity of the container without damage and stably.

[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, it also includes a platform assembly 40, which 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 filling step. The platform assembly 40 is arranged to facilitate the filling of the inner tray raw materials.

[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 palletizing method for feeding inner pallet raw materials using the automatic palletizing machine described in Embodiment 1, specifically including the following steps:

[0098] Step S1: Provide the automatic palletizing machine as described in any one of Claims 1-8, and provide inner pallet raw materials;

[0099] Step S2: Adjust the distance between the first guide rod mounting plate 217 and the second guide rod mounting plate 218 through the first adjusting member 221 and the second adjusting member 222 to make the storage area adapt to the size of the inner pallet raw materials; then load the inner pallet raw materials into the storage area. Under the action of gravity, the inner pallet raw materials are stacked and fixed above the discharging station through the guiding action of the material guiding frame;

[0100] Step S3: Start the interception mechanism 23, and drive the interception plate to approach the discharging opening through the interception control member to intercept the inner pallet approaching the discharging opening;

[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 to release the inner pallet raw materials, so that the inner pallet raw materials fall to the discharging opening under the action of gravity; then drive the first clamping plate and the second clamping plate to approach each other through the first clamping control member and the second clamping control member to clamp the inner pallet raw materials except the last inner pallet; at this time, the last inner pallet of the inner pallet raw materials is intercepted by the interception mechanism 23, and the inner pallet raw materials except the last inner pallet are clamped by the clamping mechanism 22;

[0102] Step S5: Start the servo motor 321, and drive the lifting and rotating adsorption device 31 to switch to the first state through the lifting and rotating drive device 32. At this time, several vacuum suction cups on the lifting and rotating adsorption device 31 adsorb the inner pallet on the discharging station through the discharging opening;

[0103] Step S6: Drive the interception plate to move away from the discharging opening through the interception control member to release the last inner pallet;

[0104] Step S7: Drive the lifting and rotating adsorption device 31 to switch to the second state through the lifting and rotating drive device 32, and press and place the inner pallet adsorbed on the vacuum suction cup into the food cavity of the container.

[0105] In some preferred embodiments, Step S6 further includes judging and identifying whether the food cavity of the container is qualified. If the food cavity of the container is qualified, drive the interception plate to move away from the discharging opening through the interception control member to release the last inner pallet; if the food cavity of the container is unqualified, the interception plate remains close to the discharging opening state to intercept the last inner pallet.

[0106] By judging the qualified identification of the container food cavity, the feeding into the inner tray of the unqualified container food cavity is refused, saving raw material costs.

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

[0108] By controlling the feeding angle of the inner tray raw materials, it is possible to place the inner tray raw materials in the container food cavity at a fixed angle; this is particularly important for some specific products with specific patterns or specific structures printed on the inner tray, and can align the specific pattern or structure on the inner tray with the front of the container, which has certain commercial value. The above embodiments are only the preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantive changes and substitutions made by those skilled in the art 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 comprises 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 discharging 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; 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.

2. The automatic tray-dropping machine according to claim 1, 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.

3. 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.

4. The automatic tray-dropping machine according to claim 3, 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.

5. The automatic tray-dropping machine according to claim 4, 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.

6. The automatic tray-dropping machine according to claim 5, 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.

7. 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 filling step.

8. A container food filling system, characterized in that: An automatic cradle machine as claimed in any one of claims 1 to 7; 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.

9. 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 7, providing an inner tray raw material; 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; Start the interception mechanism, drive the interception plate close to the discharge port through the interception control component, and intercept the inner tray close to the discharge 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 intercepting mechanism, and the inner tray raw materials except the end inner tray are clamped by the clamping mechanism; The servo motor is started, and the lifting and rotating adsorption device is driven 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 component drives the interception plate away from the discharge port to release the inner pallet 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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