Tray carrying device and tray loading and unloading machine

Abstract

The invention relates to a tray carrying device and a tray loading and unloading machine. The tray carrying device is used for loading and unloading trays and comprises a moving mechanism and a carrying jig. The carrying jig comprises a rack, a supporting piece, a first driving piece and a picking piece. The rack is connected with the moving mechanism, and the moving mechanism is used for driving the carrying jig to move; the supporting piece is arranged on the rack; the first driving piece is arranged on the rack; the picking piece is used for picking up or releasing a material disc and connected with the first driving piece, and the first driving piece is used for driving the picking piece to move between a first position and a second position in the first direction. The picking piece comprises a picking part used for picking or releasing the material disc; under the condition that the picking piece is located at the first position, the picking part protrudes out of one end, in the first direction, of the rack in the first direction; and under the condition that the picking piece is located at the second position, at least part of the supporting piece is arranged on the bottom side of the tray picked by the picking piece in a supporting mode. And the feeding efficiency or the discharging efficiency of the charging tray can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tray, in particular to a tray carrying device and a tray loading and unloading machine. BACKGROUND

[0002] In the related art, manual loading or unloading of the tray is usually adopted. However, manual loading or unloading operation is low in efficiency and wastes manpower. SUMMARY

[0003] Therefore, it is necessary to provide a tray carrying device and a tray loading and unloading machine to realize automatic loading or unloading of the tray, replace the heavy manual operation, and improve the loading or unloading efficiency of the tray.

[0004] According to a first aspect of the present application, a tray carrying device for loading and unloading a tray is provided, which comprises a moving mechanism and a carrying jig. The carrying jig comprises a rack, a support, a first driving member and a pickup. The rack is connected with the moving mechanism, the moving mechanism is used to drive the carrying jig to move; the support is arranged on the rack; the first driving member is arranged on the rack; the pickup is used to pick up or release the tray, and is connected with the first driving member, the first driving member is used to drive the pickup to move along a first direction between a first position and a second position; wherein the pickup comprises a pickup part used to pick up or release the tray; in the case that the pickup is in the first position, the pickup part protrudes from one end of the rack along the first direction; in the case that the pickup is in the second position, at least part of the support supports the bottom side of the tray picked up by the pickup; the first direction is parallel to the bottom wall of the rack.

[0005] In one of the embodiments, the carrying jig further comprises a first positioning mechanism; the first positioning mechanism comprises a second driving member and a pressing member. The second driving member is arranged on the rack; the pressing member is connected with the second driving member; wherein the second driving member is used to drive the pressing member to move along a second direction, so as to drive the pressing member to press the tray on the support along the second direction in the case that the pickup is in the second position; the second direction is perpendicular to the bottom wall of the rack.

[0006] In one of the embodiments, the first positioning mechanism further comprises a first guide corresponding to the pressing member; the first guide is connected with the output end of the second driving member and the corresponding pressing member respectively, and the first guide is slidingly connected with the rack along the second direction.

[0007] In one of the embodiments, the carrier tool further comprises a second positioning mechanism; the second positioning mechanism comprises a third driving member and two limiting members. The third driving member is arranged on the frame; the two limiting members are respectively connected with the third driving member and are located on opposite sides of the frame along a third direction; the third driving member is used to drive the two limiting members to move towards or away from each other along the third direction; the first direction and the third direction intersect with each other and are both parallel to the bottom wall of the frame.

[0008] In one of the embodiments, the second positioning mechanism further comprises at least two second guide members corresponding to the two limiting members; the second guide members are respectively connected with the third driving member and the corresponding limiting members, and the second guide members are slidingly connected to the frame along the third direction.

[0009] In one of the embodiments, the carrier tool further comprises a first control module arranged on the frame and a first detector arranged on the pickup member, the first detector is used to sense a third position of the tray in the first direction; the first control module is electrically connected with the moving mechanism and the first detector respectively, and is used to control the moving mechanism to drive the pickup member of the carrier tool to move to the third position along the first direction; and / or, the carrier tool further comprises a first control module arranged on the frame and a second detector arranged on the pickup member, the second detector is used to sense a fourth position of the tray in a second direction; the first control module is electrically connected with the moving mechanism and the second detector respectively, and is used to control the moving mechanism to drive the pickup member of the carrier tool to move to the fourth position along the second direction; the second direction is perpendicular to the bottom wall of the frame.

[0010] According to the second aspect of the present application, a tray loading and unloading machine is provided, comprising a loading device, an unloading device and a placing rack. The loading device and the unloading device both comprise the tray carrier device of any of the above embodiments. The placing rack is located between the loading device and the unloading device along the first direction and is used to carry at least one tray.

[0011] In one of the embodiments, the tray loading and unloading machine further comprises a tray conveying mechanism and a meat grinder.

[0012] The tray conveying mechanism is located on the side of the loading device away from the placing rack in the first direction. The tray conveying mechanism has a loading station, an empty tray station and a full tray station at different positions. The loading device is used to place the empty tray in the empty tray station. The tray conveying mechanism is used to move the tray in the empty tray station to the loading station and to move the tray in the loading station after loading to the full tray station. The meat grinder has an outlet arranged towards the loading station, and the meat grinder is used to load the tray in the loading station through the outlet. The loading device is used to move the tray in the full tray station to the placing rack.

[0013] In one of the embodiments, the tray loading and unloading machine further comprises a scraping mechanism, which comprises a receiving hopper, a first scraping driving member, a scraping member and a second scraping driving member. The receiving hopper has a receiving cavity with an open end, which is used to receive the material in the tray on the carrying jig from the unloading device. The first scraping driving member is connected with the scraping member to drive the scraping member to rotate around a preset axis. The second scraping driving member is arranged on the receiving hopper and connected with the first scraping driving member to drive the first scraping driving member and the scraping member to move in a target direction. The preset axis and the target direction are perpendicular to each other and parallel to the plane where the opening of the receiving cavity is located.

[0014] In one of the embodiments, the first scraping driving member has a high-pressure state and a low-pressure state. The scraping mechanism further comprises a second control module, which is used to control the first scraping driving member to drive the scraping member to rotate around the preset axis in the high-pressure state and to control the first scraping driving member to drive the scraping member to rotate around the preset axis in the low-pressure state. Alternatively, the scraping member comprises a scraper plate, which comprises a first plate body part and two second plate body parts connected with the first plate body part on opposite sides in a direction parallel to the preset axis. The hardness of the second plate body part is less than that of the first plate body part.

[0015] In the technical solution of the present application, the first driving member drives the pickup member to move along the first direction, so that the pickup member moves along the first direction to the first position, at this time, the pickup part of the pickup member protrudes out of the rack along the first direction, which is beneficial to the pickup part of the pickup member picking up the tray; after the pickup member completes the pickup of the tray, the first driving member can be used to drive the pickup member to move along the first direction from the first position to the second position, so that the tray moves along the first direction to above the support member on the rack, the support member can be used to support the tray, improve the stability of the tray on the carrier fixture, and then the working stability of the tray carrying device in the subsequent process can be improved. If it is necessary to unload the tray from the carrier fixture, the first driving member can be used to drive the pickup member to move along the first direction from the second position to the first position, so that the tray protrudes out of the rack along the first direction, which is convenient for unloading the tray on the carrier fixture to the required place. In this way, the tray carrying device of the present application can be used to realize the automatic feeding or automatic unloading of the tray, replace the heavy manual work, and improve the feeding efficiency or unloading efficiency of the tray. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A structure schematic diagram of the tray loading and unloading machine in an embodiment of the present application is shown.

[0017] Figure 2 A process schematic diagram of the carrier fixture picking up the tray (the pickup member is in the first position) in an embodiment of the present application is shown.

[0018] Figure 3 A structure schematic diagram of the carrier fixture after picking up the tray (the pickup member is in the second position) in an embodiment of the present application is shown.

[0019] Figure 4 A local schematic diagram of the carrier fixture in a first perspective in an embodiment of the present application is shown.

[0020] Figure 5 A local schematic diagram of the carrier fixture in a second perspective in an embodiment of the present application is shown.

[0021] Figure 6 An enlarged schematic diagram of A in Figure 1

[0022] Figure 7 A structure schematic diagram of the tray conveying mechanism and the meat mincer in an embodiment of the present application is shown.

[0023] Figure 8 A structure schematic diagram of the scraping mechanism and the weighing mechanism in an embodiment of the present application is shown.

[0024] Figure 9 A local structure schematic diagram of the scraping mechanism in an embodiment of the present application is shown. ​

[0025] Figure 10 A structural schematic diagram of a scraping member in an embodiment of the present application is shown.

[0026] Figure 11 A structural schematic diagram of a tray loading and unloading machine in another perspective in an embodiment of the present application is shown.

[0027] Reference signs: 10, tray loading and unloading machine; 101, loading device; 102, unloading device; 100, moving mechanism; 200, carrying jig; 211, rack; 212, first guide rail; 213, mounting flange; 214, drag chain; 220, support; 230, first driving member; 240, picking member; 241, picking part; 242, picking seat; 250, first positioning mechanism; 251, second driving member; 252, pressing member; 253, first guide member; 254, first sleeve; 260, first mounting seat; 270, second positioning mechanism; 271, third driving member; 272, limiting member; 2721, seat body; 2722, limiting column; 273, second guide member; 274, second sleeve; 275, connecting member; 281, first detector; 282, second detector; 283, second mounting seat; 290, first control module; 300, cooking machine; 310, placing rack; 400, tray conveying mechanism; 410, first conveying belt; 411, first conveying sub-belt; 420, second conveying belt; 421, second conveying sub-belt; 430, elevator; 440, transfer conveying belt; 450, fixing rack; 500, meat grinder; 501, outlet; 600, scraping mechanism; 610, receiving hopper; 620, first scraping driving member; 621, scraping seat; 630, scraping member; 631, scraper; 6311, first plate body part; 6312, second plate body part; 632, swing shaft; 640, second scraping driving member; 641, scraping driving belt; 642, clamping member; 650, second guide rail; 661, first arm; 662, second arm; 663, hinged seat; 670, second control module; 680, mounting rack; 690, inspection ladder; 700, weighing mechanism; 710, material conveying mechanism; 720, crusher; 730, metal detector; 740, material barrel; 750, weighing table; 760, slope; 770, cleaning flip cover; 800, protection system; 900, electric control cabinet; W1, loading station; W2, empty tray station; W3, full tray station; W4, cleaning station; Q, protection cavity.

[0028] 20, tray; K, picking hole; 30, factory building. DETAILED DESCRIPTION

[0029] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described herein and by one of ordinary skill in the art without departing from the spirit and scope of the present application, and it is therefore intended that all such variations be considered as falling within the scope of the present application. It should be understood that the use of the terms "include", "comprise" or "contain" herein should not be understood as limiting the present application to the features or steps described herein, but rather the use of these terms is intended to cover the presence of the features or steps described herein as well as the presence of other features or steps not described herein.

[0030] In the description of the present application, it should be understood that, if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0031] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features referred to. Therefore, the features defined with "first", "second" can include at least one of the features explicitly or implicitly. In the description of the present application, if the term "a plurality of" appears, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0032] In the present application, unless otherwise explicitly specified and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] In the present application, unless specifically defined and limited otherwise, if there is a description of a first feature "on" or "under" a second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "over", "above" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or only means that the first feature is horizontally higher than the second feature. The first feature "under", "below" and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or only means that the first feature is horizontally lower than the second feature.

[0034] It should be noted that if an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or there can be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be an intermediate element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are only for illustrative purposes and do not represent the only implementation.

[0035] Figure 1 A structural schematic diagram of a tray loading and unloading machine in an embodiment of the present application is shown. Figure 2 A process schematic diagram of a carrier tool picking up a tray in an embodiment of the present application (the picking-up part is in the first position). Figure 3 A structural schematic diagram of a carrier tool after picking up a tray in an embodiment of the present application (the picking-up part is in the second position).

[0036] Please refer to Figure 1 , Figure 2 and Figure 3 An embodiment of the present application provides a tray loading and unloading machine 10, comprising a tray carrying device, the tray carrying device being used for loading and unloading a tray 20, the tray carrying device comprising a moving mechanism 100 and a carrier tool 200.

[0037] The tray loading and unloading machine 10 can be installed in a factory building 30, so as to facilitate the use of the tray loading and unloading machine 10 to carry the tray 20 in the factory building 30.

[0038] The moving mechanism 100 refers to a mechanism capable of moving the carrier tool 200 in a first direction F1, a second direction F2 and a third direction F3. The moving mechanism 100 can also drive the carrier tool 200 to turn 180 degrees. Exemplarily, the moving mechanism 100 is a robot.

[0039] The carrier tool 200 refers to a tool capable of picking up and carrying the tray 20.

[0040] The moving mechanism 100 can be connected with the carrier tool 200 in the first direction F1.

[0041] The carrying tool 200 comprises a frame 211, a support 220, a first driving member 230 and a picking member 240. The frame 211 is connected with the moving mechanism 100, and the moving mechanism 100 is used to drive the carrying tool 200 to move. Specifically, the frame 211 is connected with the moving mechanism 100 along a first direction F1.

[0042] The support 220 is arranged on the frame 211, specifically, the support 220 is arranged on the top side of the frame 211, and the first driving member 230 is arranged on the frame 211. The picking member 240 is used to pick or release the tray 20, and the picking member 240 is connected with the first driving member 230, and the first driving member 230 is used to drive the picking member 240 to move along the first direction F1 between a first position and a second position. The picking member 240 comprises a picking part 241 used to pick or release the tray 20. When the picking member 240 is at the first position, the picking part 241 protrudes from one end of the frame 211 along the first direction F1. When the picking member 240 is at the second position, at least part of the support 220 supports the bottom side of the tray 20 picked by the picking member 240. Wherein, the first direction F1 is parallel to the bottom wall of the frame 211.

[0043] The first driving member 230 refers to a component used to drive the picking member 240 to move along the first direction F1, and the first driving member 230 can be a shaftless cylinder.

[0044] The picking member 240 can be sleeved on the frame 211, so as to facilitate the picking member 240 to move relative to the frame 211 along the first direction F1. The picking part 241 can be a claw, so as to facilitate the picking part 241 of the picking member 240 to pick the tray 20.

[0045] It can be understood that the first position and the second position are arranged at intervals along the first direction F1.

[0046] The first position refers to a position at which the picking member 240 can pick or release the tray 20.

[0047] The second position refers to a position at which the picking member 240 is located when the tray 20 picked by the picking member 240 is supported on the support 220.

[0048] “At least part of the support 220 supports the bottom side of the tray 20 picked by the picking member 240” can be that part of the support 220 supports the bottom side of the tray 20 picked by the picking member 240, or the support 220 supports the bottom side of the tray 20 picked by the picking member 240. Herein, no specific limitation is made.

[0049] The first direction F1 can be a front-rear direction or a left-right direction. For example, the first direction F1 is a left-right direction.

[0050] The first driving member 230 drives the pickup member 240 to move along the first direction F1, so that the pickup member 240 moves to the first position along the first direction F1, at this time, the pickup part 241 of the pickup member 240 protrudes out of the rack 211 along the first direction F1 (as shown in Figure 2 The pickup part 241 of the pickup member 240 can pick up the tray 20; after the pickup member 240 completes the pickup of the tray 20, the first driving member 230 can be used to drive the pickup member 240 to move from the first position to the second position along the first direction F1 (as shown in Figure 3 The tray 20 moves to the upper side of the support member 220 on the rack 211 along the first direction F1, and the support member 220 can support the tray 20, thereby improving the stability of the tray 20 on the carrying fixture 200, and further improving the working stability of the tray carrying device in the subsequent process.

[0051] If it is necessary to unload the tray 20 from the carrying fixture 200, the first driving member 230 can be used to drive the pickup member 240 to move from the second position to the first position along the first direction F1, so that the tray 20 protrudes out of the rack 211 along the first direction F1, thereby facilitating the unloading of the tray 20 on the carrying fixture 200 to the required place.

[0052] In this way, the tray carrying device of the present application can realize the automatic feeding or automatic unloading of the tray 20, replace the heavy manual work, and improve the feeding efficiency or unloading efficiency of the tray.

[0053] In some embodiments, the carrying fixture 200 further comprises a first positioning mechanism 250, and the first positioning mechanism 250 comprises a second driving member 251 and a pressing member 252. The second driving member 251 is arranged on the rack 211, and the pressing member 252 is connected with the second driving member 251. The second driving member 251 is used to drive the pressing member 252 to move along the second direction F2, so that in the case that the pickup member 240 is in the second position, the pressing member 252 is driven to press the tray 20 on the support member 220 along the second direction F2, and the second direction F2 is perpendicular to the bottom wall of the rack 211.

[0054] For example, the second driving member 251 is a pneumatic cylinder, and the pressing member 252 is a pressing plate, and the second direction F2 can be the up-down direction.

[0055] In the case that the pickup member 240 is in the second position, the second driving member 251 can be used to drive the pressing member 252 to move along the second direction F2, so that the pressing member 252 can press the tray 20 on the support member 220 along the second direction F2, which can further improve the stability of the tray 20 during the carrying process of the carrying fixture 200, reduce the probability of the tray 20 from moving during the carrying process of the carrying fixture 200, and further improve the working stability of the tray carrying device in the subsequent process.

[0056] In some embodiments, the first positioning mechanism 250 further comprises a first guide 253 corresponding to the pressing member 252, the first guide 253 is connected to the output end of the second driving member 251 and the corresponding pressing member 252 respectively, and the first guide 253 is slidingly connected to the rack 211 along the second direction F2.

[0057] Specifically, the first positioning mechanism 250 further comprises a first sleeve 254, and the carrying tool 200 further comprises a first mounting seat 260 arranged on the rack 211, the first sleeve 254 is arranged on the first mounting seat 260, the output end of the second driving member 251 is connected to the pressing member 252 through the first guide 253, the first guide 253 penetrates the first mounting seat 260 and the first sleeve 254 along the second direction F2, and the first guide 253 is slidingly connected to the first sleeve 254 on the first mounting seat 260 along the second direction F2, so that the pressing member 252 can move in the second direction F2 under the driving of the second driving member 251, and the stability of the displacement of the pressing member 252 in the second direction F2 can be improved.

[0058] For example, the first positioning mechanism 250 and the first mounting seat 260 are respectively provided with four, and the four first positioning mechanisms 250 and the four first mounting seats 260 are symmetrically arranged on the opposite sides of the rack 211 along the third direction F3, two first positioning mechanisms 250 on the same side along the third direction F3 are arranged at intervals along the first direction F1, and the first mounting seats 260 on the same side along the third direction F3 are arranged at intervals along the first direction F1, so that the four first positioning mechanisms 250 can better improve the stability of the tray 20 during the carrying process of the carrying tool 200.

[0059] In some embodiments, the carrying tool 200 further comprises a second positioning mechanism 270, the second positioning mechanism 270 comprises a third driving member 271 and two limiting members 272, the third driving member 271 is arranged on the rack 211, and the at least two limiting members 272 are respectively connected to the third driving member 271 and located on the opposite sides of the rack 211 along the third direction F3. The third driving member 271 is used for driving the two limiting members 272 to move towards or away from each other along the third direction F3. The first direction F1 and the third direction F3 intersect with each other and are parallel to the bottom wall of the rack 211.

[0060] The third driving member 271 refers to a component for driving the two limiting members 272 to move towards or away from each other along the third direction F3, for example, the third driving member 271 is a pneumatic clamp finger.

[0061] Specifically, the first direction F1 is perpendicular to the third direction F3, and the first direction F1 is the left-right direction and the third direction F3 is the front-rear direction. When the pickup 240 is in the second position, the two limit members 272 can be driven to move towards each other along the third direction F3 by the third driving member 271, so that the tray 20 on the support member 220 is limited between the at least two limit members 272 along the third direction F3, which can further improve the stability of the tray 20 during the carrying process of the carrier tool 200, reduce the probability of the tray 20 moving during the carrying process of the carrier tool 200, and further improve the working stability of the tray carrying device in the subsequent process.

[0062] If it is necessary to unload the tray 20 from the carrier tool 200, the two limit members 272 can be driven to move away from each other along the third direction F3 by the third driving member 271, the pressing member 252 can be driven to move upward along the second direction F2 by the second driving member 251, and the pickup 240 can be driven to move from the second position to the first position along the first direction F1 by the first driving member 230. In this way, the tray 20 can be extended out of the rack 211 along the first direction F1, which facilitates unloading the tray 20 on the carrier tool 200 to a desired location or unloading the material in the tray 20.

[0063] The second positioning mechanism 270 further comprises at least two second guide members 273 corresponding to the two limit members 272. The second guide member 273 is connected to the third driving member 271 and the corresponding limit member 272, and the second guide member 273 is slidingly connected to the rack 211 along the third direction F3.

[0064] Specifically, the second positioning mechanism 270 further comprises a second sleeve 274 arranged on each first mounting seat 260, and at least two connecting members 275 corresponding to the two limit members 272. The output end of the third driving member 271 is connected to one end of the corresponding second guide member 273 along the third direction F3 through the corresponding connecting member 275, the other end of the second guide member 273 along the third direction F3 is connected to the corresponding limit member 272, the second guide member 273 along the third direction F3 is arranged in the corresponding first mounting seat 260 and the corresponding second sleeve 274, and the second guide member 273 along the third direction F3 is slidingly connected to the corresponding second sleeve 274. In this way, the limit member 272 can be driven to move along the third direction F3 by the third driving member 271, which can improve the stability of the displacement of the limit member 272 along the third direction F3.

[0065] Optionally, the limiting member 272 comprises a seat body 2721 and two limiting posts 2722, and the second guide member 273 is connected to the seat body 2721 of the corresponding limiting member 272 away from one end of the corresponding connecting member 275 along the third direction F3. The two limiting posts 2722 are arranged on the seat body 2721 along the first direction F1, so that the two limiting posts 2722 can better limit the side of the tray 20 along the third direction F3, thereby improving the stability of the tray 20 during the carrying process with the carrying fixture 200.

[0066] For example, two second positioning mechanisms 270 are provided, and the two second positioning mechanisms 270 are arranged at intervals along the first direction F1. The two second positioning mechanisms 270 can better improve the stability of the tray 20 during the carrying process with the carrying fixture 200.

[0067] In some embodiments, as shown in Figure 3 The first mounting seat 260 is arranged on one side of the rack 211 along the third direction F3, and the second driving member 251 of the first positioning mechanism 250 is also located on one side of the rack 211 along the third direction F3. The first guide member 253 is arranged through the support member 220 along the second direction F2 away from one end of the second driving member 251 and is detachably connected to the pressing member 252. In this way, the pressing member 252 of the first positioning mechanism 250 can be used to press and position the tray 20 on the support member 220.

[0068] In some embodiments, in combination with Figure 2 and Figure 4 along the third direction F3, the seat body 2721 of the limiting member 272 is located outside the support member 220, and the two limiting posts 2722 are arranged through the support member 220 along the third direction F3 away from one end of the seat body 2721 along the third direction F3. In this way, the tray 20 on the support member 220 can be limited between the two limiting members 272 of the second positioning mechanism 270.

[0069] In some embodiments, the pickup member 240 comprises a pickup seat 242 and two pickup portions 241, and the two pickup portions 241 are arranged at intervals on the pickup seat 242 along the third direction F3. The tray 20 is provided with two pickup holes K corresponding to the two pickup portions 241. After the pickup member 240 picks up the tray 20, the pickup portion 241 is correspondingly arranged in the corresponding pickup hole K. In combination with the two pickup portions 241 arranged at intervals along the third direction F3, the tray 20 can be positioned on the pickup member 240 along the third direction F3.

[0070] In some embodiments, the carrier 200 further comprises a first detector 281 arranged on the pickup 240, and a first control module 290 arranged on the frame 211, the first detector 281 being configured to sense a third position of the tray 20 in the first direction F1. The first control module 290 is electrically connected to the moving mechanism 100 and the first detector 281 respectively, and the first control module 290 is configured to control the moving mechanism 100 to drive the pickup 240 of the carrier 200 to move to the third position in the first direction F1.

[0071] Optionally, the first detector 281 is mounted on the pickup 240 through a second mounting seat 283, and the second mounting seat 283 is detachably connected to the pickup seat 242 of the pickup 240.

[0072] During the process that the moving mechanism 100 drives the carrier 200 to pick up the tray 20, the first control module 290 can control the moving mechanism 100 to drive the carrier 200 to move in the first direction F1 until the first detector 281 senses the third position of the tray 20 in the first direction F1, so that the first control module 290 can control the moving mechanism 100 to drive the pickup 240 of the carrier 200 to move to the third position in the first direction F1, which can make the carrier 200 more accurately pick up the tray 20, and also can make the carrier 200 better compatible with the position deviation of the tray 20 in the first direction F1.

[0073] In some embodiments, the carrier 200 further comprises a first control module 290 arranged on the frame 211 and a second detector 282 arranged on the pickup 240, the second detector 282 being configured to sense a fourth position of the tray 20 in the second direction F2. The first control module 290 is electrically connected to the moving mechanism 100 and the second detector 282 respectively, and the first control module 290 is configured to control the moving mechanism 100 to drive the pickup 240 of the carrier 200 to move to the fourth position in the second direction F2, the second direction F2 being perpendicular to the bottom wall of the frame 211.

[0074] Optionally, the second detector 282 is mounted on the pickup 240 through a second mounting seat 283, and the second mounting seat 283 is detachably connected to the pickup seat 242 of the pickup 240.

[0075] In the process that the moving mechanism 100 drives the carrier tool 200 to pick up the tray 20, the first control module 290 can control the moving mechanism 100 to drive the carrier tool 200 to move along the second direction F2 until the second detector 282 senses the fourth position of the tray 20 in the second direction F2, so that the first control module 290 can control the moving mechanism 100 to drive the pickup piece 240 of the carrier tool 200 to move to the fourth position in the second direction F2, which can make the carrier tool 200 more accurately pick up the tray 20, and also make the carrier tool 200 better compatible with the position deviation of the tray 20 in the second direction F2.

[0076] In some embodiments, as shown in Figure 4 The carrier tool 200 further includes a first guide rail 212 arranged on the rack 211, and the pickup piece 240 is slidingly connected to the first guide rail 212 in the first direction F1.

[0077] In this way, in the process that the first driving piece 230 drives the pickup piece 240 to move in the first direction F1, the first guide rail 212 can be used to guide the pickup piece 240 to move in the first direction F1, thereby improving the stability of the pickup piece 240 moving in the first direction F1.

[0078] In some embodiments, as shown in Figure 5 The carrier tool 200 further includes a mounting flange 213 detachably connected to the moving mechanism 100, the mounting flange 213 is arranged at one end of the rack 211 in the first direction F1 and is located on the side of the second position away from the first position in the first direction F1.

[0079] The carrier tool 200 can be connected to one side of the moving mechanism 100 in the first direction F1, thereby facilitating the carrier tool 200 to pick up or release the tray 20 on the side of the moving mechanism 100 away from the first direction F1, and facilitating the disassembly and assembly of the carrier tool 200 on the moving mechanism 100, thereby facilitating the replacement or installation of the carrier tool 200.

[0080] In some embodiments, as shown in Figure 4 The carrier tool 200 further includes a drag chain 214, the fixed end of the drag chain 214 is connected to the rack 211, and the movable end of the drag chain 214 is connected to the bottom of the pickup piece 240, thereby facilitating the first wire electrically connected between the first detector 281 on the pickup piece 240 and the first control module 290 to pass through the drag chain 214, and also facilitating the second wire electrically connected between the second detector 282 on the pickup piece 240 and the first control module 290 to pass through the drag chain 214, thereby facilitating the first detector 281 and the second detector 282 to be electrically connected to the first control module 290 on the rack 211 at the same time, and the first wire and the second wire will not be entangled during the movement of the pickup piece 240 in the first direction F1.

[0081] The application also provides a tray loading and unloading machine 10, which is shown in combination with Figure 1 and Figure 6 The tray loading and unloading machine 10 comprises a tray loading device 101, a tray unloading device 102 and a placing rack 310. The tray loading device 101 and the tray unloading device 102 each comprise the tray carrying device of any of the above embodiments. The placing rack 310 is located between the tray loading device 101 and the tray unloading device 102 along the first direction F1 and is used to carry at least one tray 20.

[0082] The tray unloading device 102 is used to pick up and move the empty or full tray 20.

[0083] The tray unloading device 102 is used to pick up and move the full tray 20 on the placing rack 310.

[0084] The moving mechanism 100 of the tray loading device 101 drives the carrying jig 200 of the tray loading device 101 to move, so that the carrying jig 200 of the tray loading device 101 can pick up the empty tray 20 on the placing rack 310. Then the carrying jig 200 of the tray loading device 101 drives the tray 20 to move. After the tray 20 is loaded at the loading station W1, the tray loading device 101 drives the full tray 20 to move to the placing rack 310. The material in the tray 20 can be cooked or frozen on the placing rack 310. After the cooking or freezing is completed, the moving mechanism 100 of the tray unloading device 102 on the other side of the placing rack 310 drives the carrying jig 200 of the tray unloading device 102 to move, so that the carrying jig 200 of the tray unloading device 102 can pick up the full tray 20 on the placing rack 310. Then the carrying jig 200 of the tray unloading device 102 moves the tray 20 to the unloading station for subsequent unloading operation.

[0085] For example, the tray loading and unloading machine 10 comprises a cooking machine 300 located between the tray loading device 101 and the tray unloading device 102 along the first direction F1. The placing rack 310 is part of the cooking machine 300 and is located in the cooking cavity of the cooking machine 300, so that the material in the tray 20 can be cooked by the cooking machine 300.

[0086] The placing rack 310 has a plurality of placing cavities spaced along the second direction F2. The placing cavities are used to place the trays 20. Each of the opposite sides of the placing cavities along the first direction F1 has an opening communicating with the placing cavities. In this way, the tray loading device 101 on one side places a plurality of trays 20 on the placing rack 310 through the adjacent openings. The tray unloading device 102 on the other side can pick up the plurality of trays 20 on the placing rack 310 for subsequent unloading of the plurality of trays 20.

[0087] In some embodiments, the tray unloading machine 10 further comprises a tray conveying mechanism 400 and a meat grinder 500, the tray conveying mechanism 400 is located on the side of the tray loading device 101 away from the placing rack 310 along the first direction F1. The tray conveying mechanism 400 has a tray loading station W1, an empty tray station W2 and a full tray station W3 located at different positions. The tray loading device 101 is used to place the empty tray 20 at the empty tray station W2, the tray conveying mechanism 400 is used to move the tray 20 at the empty tray station W2 to the tray loading station W1, and is used to move the tray 20 at the tray loading station W1 after loading to the full tray station W3. The tray loading device 101 is used to move the tray 20 at the full tray station W3 to the placing rack 310. Among them, the empty tray 20 is a tray 20 without material, and the full tray 20 is a tray 20 fully loaded with material.

[0088] The meat grinder 500 has an outlet 501 arranged towards the tray loading station W1, and the meat grinder 500 loads the tray 20 at the tray loading station W1 through the outlet 501.

[0089] Specifically, please refer to Figure 6 and Figure 7 , the tray conveying mechanism 400 comprises a first conveying belt 410 at a first height, a second conveying belt 420 at a second height, a lift 430 and a transfer conveying belt 440, the second height is greater than the first height, the transfer conveying belt 440 is arranged on the side of the second conveying belt 420 away from the tray loading device 101 along the first direction F1, the empty tray station W2 is located at one end of the first conveying belt 410 close to the tray loading device 101, the full tray station W3 is located at one end of the second conveying belt 420 close to the tray loading device 101, the tray loading station W1 is located on the second conveying belt 420 and on the side of the full tray station W3 away from the tray loading device 101. The lift 430 is connected with the transfer conveying belt 440 to drive the transfer conveying belt 440 to switch between the first height and the second height along the second direction F2. The conveying direction of the first conveying belt 410 is opposite to the conveying direction of the second conveying belt 420.

[0090] Optionally, the tray conveying mechanism 400 further comprises a fixed frame 450, and the first conveying belt 410 and the second conveying belt 420 are arranged along the second direction F2 and mounted on the fixed frame 450.

[0091] The first conveying belt 410 can be continuously arranged along the first direction F1, or the first conveying belt 410 can comprise two first conveying sub-belts 411 arranged at intervals along the first direction F1, and the first conveying sub-belt 411 is mounted on the fixed frame 450 through the corresponding belt mounting frame.

[0092] The second conveying belt 420 can be continuously arranged along the first direction F1, and the second conveying belt 420 can also include two second conveying sub-belts 421 arranged at intervals along the first direction F1, and the second conveying sub-belts 421 are installed on the fixed frame 450 through corresponding belt mounting frames.

[0093] The elevator 430 can be a structure similar to an elevator, or other structures capable of driving the transfer conveying belt 440 to switch between the first height and the second height along the second direction F2.

[0094] Since the second height is greater than the first height, it can be understood that the first conveying belt 410 is located at the bottom side of the second conveying belt 420, and then the empty tray station W2 is located at the bottom side of the full tray station W3.

[0095] First, the elevator 430 drives the transfer conveying belt 440 to switch from the second height to the first height along the second direction F2, so that the transfer conveying belt 440 is located on the side of the first conveying belt 410 away from the loading device 101, and then the moving mechanism 100 of the loading device 101 drives the carrying jig 200 of the loading device 101 to move the tray 20 to the empty tray station W2 of the tray conveying mechanism 400, and the first conveying belt 410 of the tray conveying mechanism 400 can convey the tray 20 from the empty tray station W2 to the transfer conveying belt 440 (at this time, the conveying direction of the transfer conveying belt 440 is the same as the conveying direction of the first conveying belt 410), and after the tray 20 is conveyed to the transfer conveying belt 440, the elevator 430 drives the transfer conveying belt 440 to switch from the first height to the second height along the second direction F2, so that the transfer conveying belt 440 is located on the side of the second conveying belt 420 away from the loading device 101 along the first direction F1, and then the conveying direction of the transfer conveying belt 440 is reversed, so that the conveying direction of the transfer conveying belt 440 is opposite to the conveying direction of the first conveying belt 410, and the same as the conveying direction of the second conveying belt 420, and then the tray 20 from the empty tray station W2 can be conveyed to the second conveying belt 420, and then the second conveying belt 420 can convey the tray 20 to the loading station W1, and after the tray 20 is conveyed to the loading station W1, the material in the meat grinder 500 can be poured into the tray 20 through the outlet 501, and the material can be evenly laid in the tray 20 when the tray conveying mechanism 400 stops running or runs slowly, and then the full tray 20 of the tray conveying mechanism 400 can be moved to the full tray station W3, and the carrying jig 200 of the loading device 101 can pick up the tray 20 of the full tray station W3, and then the loading device 101 drives the tray 20 to move to the placement frame 310, so as to perform subsequent operations.

[0096] Optionally, during the process of conveying the tray 20 toward the loading station W1, the second conveyor belt 420 of the tray conveying mechanism 400 can run at a slow speed, for example, the second conveyor belt 420 of the tray conveying mechanism 400 can be decelerated from the first speed to the second speed (the second speed is less than or equal to one-tenth of the first speed). The second conveyor belt 420 of the tray conveying mechanism 400 runs at a slower speed, which can adapt to the extrusion efficiency at the outlet 501 of the meat grinder 500, ensuring that the material is laid flat in the tray 20 without causing the tray conveying mechanism 400 to stop, thereby improving the efficiency of the loading and unloading machine 10.

[0097] After the loading station W1 completes the loading of the material tray 20, the second conveyor belt 420 of the material tray conveying mechanism 400 can be accelerated from the second speed to the first speed so that the material tray conveying mechanism 400 can move the material tray 20 from the loading station W1 to the full tray station W3 more quickly.

[0098] In some embodiments, such as Figure 8 As shown, the loading and unloading tray machine 10 also includes a scraping mechanism 600. The scraping mechanism 600 includes a receiving hopper 610, a first scraping drive 620, a scraper 630, and a second scraping drive 640. The receiving hopper 610 has a receiving cavity with one end open, which is used to receive material from the tray 20 on the transport fixture 200 of the unloading device 102. The first scraping drive 620 is connected to the scraper 630 to drive the scraper 630 to rotate around a preset axis. The second scraping drive 640 is disposed on the receiving hopper 610 and is connected to the first scraping drive 620 to drive the first scraping drive 620 and the scraper 630 to move along a target direction. The preset axis is perpendicular to the target direction and parallel to the plane where the opening of the receiving cavity is located.

[0099] After the material in the tray 20 is steamed or frozen, the unloading device 102 removes the trays 20 one by one from the placement rack 310. The unloading device 102 moves the trays 20 to the scraping mechanism 600 located at the unloading station, so that the longitudinal direction of the trays 20 is parallel to the target direction. Then, the unloading device 102 flips the trays 20 180 degrees so that the material in the trays 20 can fall into the receiving chamber of the receiving hopper 610. The first scraping drive 620 then drives the scraping component 630 to rotate around the preset axis, so that the scraping component 630 can scrape the material in the trays 20. The second scraping drive 640 simultaneously drives the first scraping drive 620 and the scraping component 630 to move along the target direction. The repeatedly flipped scraping component 630 can scrape the material in the trays 20 along the longitudinal direction of the trays 20, which can effectively scrape the material in the trays 20.

[0100] Optionally, the first scraping driving member 620 is a scraping cylinder, a piston rod of the scraping cylinder is connected with the scraping member 630 to drive the scraping member 630 to rotate around the preset axis. The first scraping driving member 620 has a high-pressure state and a low-pressure state. The scraping mechanism 600 further comprises a second control module 670, which is configured to control the first scraping driving member 620 to drive the scraping member 630 to rotate around the preset axis in the high-pressure state, and to control the first scraping driving member 620 to drive the scraping member 630 to rotate around the preset axis in the low-pressure state. The second control module 670 is electrically connected with the second scraping driving member 640. The second control module 670 is further configured to control the second scraping driving member 640 to drive the first scraping driving member 620 to move in the target direction.

[0101] In the case that the first scraping driving member 620 is in the high-pressure state, the first scraping driving member 620 is provided with a gas with a first pressure. The scraping member 630 rotates around the preset axis under the driving of the gas with the first pressure. In the case that the first scraping driving member 620 is in the low-pressure state, the first scraping driving member 620 is provided with a gas with a second pressure. The scraping member 630 rotates around the preset axis under the driving of the gas with the second pressure. The first pressure is greater than the second pressure.

[0102] The disc loading and unloading machine 10 further comprises a first air bag, a second air bag, a first electromagnetic valve and a second electromagnetic valve. The first air bag is provided with a gas with a first pressure. The second air bag is provided with a gas with a second pressure. The first air bag and the second air bag are respectively communicated with the first scraping driving member 620. The first electromagnetic valve is arranged on a pipeline connecting the first air bag and the first scraping driving member 620. The second electromagnetic valve is arranged on a pipeline connecting the second air bag and the first scraping driving member 620. The second control module 670 is electrically connected with the first electromagnetic valve and the second electromagnetic valve respectively, so as to control the first electromagnetic valve and the second electromagnetic valve to be in the open state in sequence, and to control one of the first electromagnetic valve and the second electromagnetic valve to be in the open state. In this way, the first scraping driving member 620 can be in the high-pressure state first and then in the low-pressure state.

[0103] Optionally, the first pressure is 0.5 MPa-0.7 MPa, and the second pressure is 0.2 MPa-0.3 MPa. For example, the first pressure is 0.5 MPa, 0.6 MPa or 0.7 MPa, and the second pressure is 0.2 MPa or 0.3 MPa.

[0104] It should be noted that the stroke of the first scraping driving member 620 in the high-pressure state and the low-pressure state remains unchanged. Correspondingly, the rotating speed of the scraping member 630 in the high-pressure state and the low-pressure state also remains unchanged.

[0105] When the first scraping driving member 620 is in the high pressure state, the first scraping driving member 620 applies a greater force to the scraping member 630, the scraping member 630 is in a relatively hard state, and the turned-over scraping member 630 can scrape out thicker material under the driving of the first scraping driving member 620; when the first scraping driving member 620 is in the low pressure state, the first scraping driving member 620 applies a smaller force to the scraping member 630, the scraping member 630 is in a relatively soft state, and the turned-over scraping member 630 can better contact the inner wall of the material tray 20 under the driving of the first scraping driving member 620, so as to more thoroughly scrape out the material in the material tray 20.

[0106] In this way, the second control module 670 controls the first scraping driving member 620 to drive the scraping member 630 to rotate around the preset axis in the high pressure state first, and then controls the first scraping driving member 620 to drive the scraping member 630 to rotate around the preset axis in the low pressure state, which is beneficial to more thoroughly scraping out the material in the material tray 20.

[0107] Optionally, as shown in Figure 9 The second scraping driving member 640 includes a motor (not shown in the figure), two belt pulleys and a scraping driving belt 641, the output end of the motor is connected with at least one belt pulley, the scraping driving belt 641 is drivingly connected with the two belt pulleys, the scraping driving belt 641 is connected with the first scraping driving member 620, and specifically, the scraping driving belt 641 is connected with the scraping seat 621 of the first scraping driving member 620 through the clamping member 642.

[0108] The clamping member 642 includes two clamping plates and a bolt, the two clamping plates are detachably connected through the bolt, and the scraping driving belt 641 can be clamped between the two clamping plates of the clamping member 642.

[0109] The scraping mechanism 600 further includes the second guide rail 650 arranged on the material receiving hopper 610, and the first scraping driving member 620 is slidingly connected to the second guide rail 650 in the target direction, so that the second scraping driving member 640 can drive the first scraping driving member 620 and the scraping member 630 to move in the target direction, and the stability of the scraping member 630 moving in the target direction can be improved.

[0110] The first material scraping driving member 620, the second material scraping driving member 640 and the second guide rail 650 are respectively provided with two, and the two first material scraping driving members 620, the two second material scraping driving members 640 and the two second guide rails 650 are respectively arranged on opposite sides of the material receiving hopper 610 in a direction parallel to the preset axis. The material scraping member 630 comprises a scraper plate 631 and a swing shaft 632. The scraper plate 631 is rotatably arranged on the conveying end of the first material scraping driving member 620 about the preset axis through the swing shaft 632. One end of the first arm 661 is connected to the conveying end of the first material scraping driving member 620. The other end of the first arm 661 is hingedly connected to one end of the second arm 662. The other end of the second arm 662 is rotatably connected to the hinged seat 663 about the preset axis with one end of the swing shaft 632. In this way, during the process that the output end of the first material scraping driving member 620 extends out of or retracts into the cylinder of the first material scraping driving member 620, the scraper plate 631 can be repeatedly swung, and thus the material scraping mechanism 600 can be used to scrape the material on the material tray 20.

[0111] It can be understood that the preset axis is parallel to the lengthwise extension direction of the swing shaft 632.

[0112] The two ends of the swing shaft 632 are respectively provided with a first arm 661, a second arm 662 and a hinged seat 663, so that the two ends of the swing shaft 632 are rotatably mounted on the two hinged seats 663 about the preset axis. In combination with the fact that the first material scraping driving member 620 is provided with two, the stability of the rotation of the material scraping member 630 can be improved. In addition, the second material scraping driving member 640 and the second guide rail 650 are respectively provided with two, which can also improve the stability of the movement of the material scraping member 630 in the target direction.

[0113] Optionally, as shown in Figure 10 The scraper plate 631 comprises a first plate body part 6311 and two second plate body parts 6312 connected to opposite sides of the first plate body part 6311 in a direction parallel to the preset axis. The hardness of the second plate body part 6312 is less than that of the first plate body part 6311. Specifically, the thickness of the second plate body part 6312 is less than one tenth of the thickness of the first plate body part 6311. In this way, compared with the first plate body part 6311, the second plate body part 6312 is more likely to deform, so that the two sides of the scraper plate 631 in the direction parallel to the preset axis are softer, which is beneficial to the closer contact of the scraper plate 631 with the inner wall of the material tray 20, so as to more completely scrape the material from the material tray 20 by using the scraper plate 631.

[0114] The material scraping mechanism 600 further comprises a mounting frame 680 and an inspection ladder 690 arranged on one side of the mounting frame 680. The material receiving hopper 610 is mounted on the mounting frame 680. The condition of the material in the material receiving cavity of the material receiving hopper 610 can be observed by climbing the inspection ladder 690, and the first material scraping driving member 620, the material scraping member 630 and the second material scraping driving member 640 and the like on the material receiving hopper 610 can be conveniently overhauled and maintained.

[0115] After the material is scraped out, the material tray 20 can be returned to the placement rack 310 by the unloading device 102 so that the material tray 20 can be manually removed from the placement rack 310 and cleaned at the cleaning station W4.

[0116] In some embodiments, the loading and unloading tray machine 10 further includes a weighing mechanism 700, which includes a material conveying mechanism 710, a crusher 720, and a metal detector 730. The material conveying mechanism 710 is connected to the receiving hopper 610 and is used to convey the material in the receiving chamber to the crusher 720; the crusher 720 has a crushing chamber for crushing the material; the metal detector 730 has a detection channel for detecting whether the material contains metal, and the detection channel is connected to the crushing chamber.

[0117] For example, the material conveying mechanism 710 includes a conveying auger.

[0118] The material is collected in the receiving hopper 610. This part of the material can be conveyed to the crusher 720 by the conveying auger. After the material is crushed in the crusher 720, the outlet of the crusher 720 can be opened, so that the material in the crushing chamber of the crusher 720 falls into the detection channel of the metal detector 730. The metal detector 730 performs metal detection on this part of the material. After the metal detection is completed, the material can be collected in the material bucket 740. Since the material bucket 740 is placed on the weighing platform 750, the material can be weighed by the weighing platform 750 and then placed into the material bucket 740.

[0119] The weighing mechanism 700 also includes a ramp 760 on one side of the weighing platform 750, so that the material bucket 740 can be moved onto the weighing platform 750 via the ramp 760 or the material bucket 740 can be moved down the ramp 760 from the weighing platform 750.

[0120] The conveying auger is equipped with a cleaning flip cover 770. After the conveying auger has completed the material conveying, the cleaning flip cover 770 can be opened to rinse the conveying auger.

[0121] like Figure 11 As shown, the loading and unloading machine 10 also includes a protective system 800, which together with the plant building 30 forms a protective cavity Q. The loading device 101 and the unloading device 102 are located inside the protective cavity Q.

[0122] In this way, the loading device 101 and the unloading device 102 operate within the protective cavity Q, avoiding injury to people.

[0123] The loading and unloading disc machine 10 further comprises an electric control cabinet 900, the electric control cabinet 900 is electrically connected with the first control module 290 and the second control module 670 respectively; the first control module 290 and the second control module 670 are all controlled by the electric control cabinet 900, the electric control cabinet 900 is located outside the protection system 800, and the electric control cabinet 900 is convenient for controlling the first control module 290 and the second control module 670 respectively.

[0124] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but it should be considered that any combination of the technical features is within the scope of the present disclosure, as long as the combination does not result in contradictions.

[0125] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that, for those skilled in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A tray carrying device, characterized in that The tray carrying device is used for loading and unloading trays, and comprises: a moving mechanism; and a carrying jig; the carrying jig comprises: a rack connected to the moving mechanism, the moving mechanism being used for driving the carrying jig to move; a support provided on the rack; a first driving member provided on the rack; and a pickup member used for picking up or releasing the tray and connected to the first driving member, the first driving member being used for driving the pickup member to move along a first direction between a first position and a second position; wherein the pickup member comprises a pickup portion used for picking up or releasing the tray; when the pickup member is in the first position, the pickup portion protrudes from one end of the rack along the first direction; when the pickup member is in the second position, at least part of the support supports the bottom side of the tray picked up by the pickup member; the first direction is parallel to the bottom wall of the rack.

2. The tray carrying device according to claim 1, characterized in that The carrying jig further comprises a first positioning mechanism; the first positioning mechanism comprises: a second driving member provided on the rack; and a pressing member connected to the second driving member; wherein the second driving member is used for driving the pressing member to move along a second direction, so as to drive the pressing member to press the tray on the support along the second direction when the pickup member is in the second position; the second direction is perpendicular to the bottom wall of the rack.

3. The tray carrying device of claim 2, wherein, The first positioning mechanism further comprises a first guide member corresponding to the pressing member; the first guide member is connected to the output end of the second driving member and the corresponding pressing member respectively, and the first guide member is slidingly connected to the rack along the second direction.

4. The tray carrying device of claim 1, wherein The carrying jig further comprises a second positioning mechanism; the second positioning mechanism comprises: a third driving member provided on the rack; and two limiting members connected to the third driving member respectively and located on opposite sides of the rack along a third direction; the third driving member is used for driving the two limiting members to move along the third direction towards or away from each other; the first direction and the third direction intersect each other and are both parallel to the bottom wall of the rack.

5. The tray carrying device of claim 4, wherein, The second positioning mechanism further comprises at least two second guide members corresponding to the two limiting members; the second guide members are connected to the third driving member and the corresponding limiting members respectively, and the second guide members are slidingly connected to the rack along the third direction.

6. The tray carrying device according to any one of claims 1-5, characterized in that, The carrying jig further comprises a first control module provided on the rack and a first detector provided on the pickup member, the first detector being used for sensing a third position of the tray in the first direction; the first control module is electrically connected to the moving mechanism and the first detector respectively, and is used for controlling the moving mechanism to drive the pickup member of the carrying jig to move to the third position along the first direction; and / or The carrying tool further comprises a first control module arranged on the rack and a second detector arranged on the pickup, the second detector being configured to sense a fourth position of the tray in a second direction; the first control module is electrically connected with the moving mechanism and the second detector respectively, and is configured to control the moving mechanism to drive the pickup of the carrying tool to move to the fourth position in the second direction; the second direction is perpendicular to the bottom wall of the rack.

7. A pallet changer characterized by The tray carrying device comprises: a loading device and an unloading device, both of which comprise the tray carrying device according to any one of claims 1-6; a placing rack located between the loading device and the unloading device in the first direction and configured to carry at least one tray.

8. The disc handler of claim 7, wherein The tray loading and unloading machine further comprises: a tray conveying mechanism located on a side of the loading device away from the placing rack in the first direction; the tray conveying mechanism has a loading station, an empty tray station and a full tray station located at different positions; the loading device is configured to place the empty tray at the empty tray station; the tray conveying mechanism is configured to move the tray at the empty tray station to the loading station, and to move the tray at the loading station after loading to the full tray station; and a meat grinder having an outlet arranged towards the loading station, the meat grinder being configured to load the tray at the loading station through the outlet: the loading device is configured to move the tray at the full tray station to the placing rack.

9. The disc handler of claim 7, wherein, The tray loading and unloading machine further comprises a scraping mechanism, which comprises: a receiving hopper having a receiving cavity with one end open, the receiving cavity being configured to receive material in the tray on the carrying tool from the unloading device; and a first scraping drive, a scraping member and a second scraping drive, the first scraping drive being connected with the scraping member to drive the scraping member to rotate around a preset axis; wherein the second scraping drive is arranged on the receiving hopper, and the second scraping drive is connected with the first scraping drive to drive the first scraping drive and the scraping member to move in a target direction; the preset axis and the target direction are perpendicular to each other and parallel to the plane on which the opening of the receiving cavity is located.

10. The disc handling apparatus of claim 9, wherein The first scraping drive has a high-pressure state and a low-pressure state; the scraping mechanism further comprises a second control module, the second control module being configured to control the first scraping drive to drive the scraping member to rotate around the preset axis in the high-pressure state first, and to control the first scraping drive to drive the scraping member to rotate around the preset axis in the low-pressure state second; and / or the scraping member comprises a scraper plate, the scraper plate comprising a first plate body portion and two second plate body portions connected to opposite sides of the first plate body portion in a direction parallel to the preset axis, the hardness of the second plate body portions being less than that of the first plate body portion.

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