Automatic scrap removing and returning system and method for baking tray

Abstract

The invention relates to the technical field of baking tray cleaning, and discloses a baking tray automatic scrap removing and returning system and method.The baking tray automatic scrap removing and returning system comprises a supporting frame, a first conveying assembly, a second conveying assembly and a frame, a movable plate is arranged at the top of the supporting frame, and a plurality of fixed plates are fixedly connected to the bottom of the movable plate; buffer assemblies are arranged at the bottoms of the multiple fixing plates correspondingly, a third conveying assembly is installed in the frame body, a frame is arranged on the top of the frame body, and an overturning assembly is arranged on the inner wall of the frame. A lifting assembly is arranged on the outer side of the frame, and a translation assembly is arranged at the top of the frame; the overturning assembly comprises a plurality of rotating shafts, the rotating shafts are rotationally connected to the interior of the frame, and pneumatic clamping jaws are fixedly connected to the sides, away from the frame, of the rotating shafts. Through cooperation of the overturning assembly and the knocking assembly, the cleaning efficiency is improved in combination with gravity overturning and targeted physical vibration modes, manual contact is not needed in the whole process, and secondary pollution is avoided.

Description

Technical Field

[0001] This invention relates to the field of baking tray cleaning technology, specifically to an automatic chip removal and return system and method for baking trays. Background Technology

[0002] In the large-scale production of baked goods such as bread and cakes, baking pans, as containers, must sequentially pass through processes such as proofing and baking along the conveyor line. After baking is complete and the products are unmolded, empty baking pans usually have residues such as bread crumbs, sugar granules, and oil stains on their surface. To ensure the continuity of subsequent production and hygienic quality, these empty baking pans must be cleaned and returned to the beginning of the production line.

[0003] Existing methods for handling empty baking trays mainly include manual and semi-automated processing. Manual processing requires operators to remove empty trays from the end of the production line, manually flip and tap them to remove residue, and then transport the stacked trays back to the beginning of the production line for reloading using trolleys or manual labor. This method is labor-intensive, inefficient, and consumes significant manpower and workshop space. Furthermore, frequent manual handling increases the risk of damage to the trays and secondary contamination.

[0004] While semi-automated processing methods have introduced return conveyors in some production lines, they lack integrated automatic chip removal functionality, still requiring manual assistance for turning and emptying the slag. Some existing automation solutions, although equipped with chip removal devices, typically separate the chip removal and return mechanisms into independent units, requiring complex transfer mechanisms for connection. This decentralized layout results in complex equipment structures, large footprints, increased manufacturing and maintenance costs, and difficulty in meeting the production needs of compact workshops.

[0005] Therefore, existing baking tray processing technology is insufficient in terms of automation integration, space utilization, and chip removal efficiency. There is an urgent need for an automated device with a compact structure that can efficiently integrate chip removal and return functions. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an automatic baking tray cleaning and return system and method, which solves the problems of large equipment footprint, low automation, high labor intensity, and difficulty in ensuring hygiene standards caused by the separation of baking tray cleaning and return processes in existing technologies.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] In a first aspect, the present invention provides an automatic crumb removal and return system for baking trays, comprising a support frame, a first conveying component, a second conveying component, and a frame. The support frame has a movable plate at its top, and multiple fixed plates are fixedly connected to the bottom of the movable plate. Each of the multiple fixed plates has a buffer component at its bottom. The frame has a third conveying component installed inside, a frame at its top, and a flipping component on the inner wall of the frame. A lifting component is provided on the outer side of the frame, and a translation component is provided on the top of the frame.

[0009] The flipping assembly includes multiple rotating shafts, which are rotatably connected inside the frame. A pneumatic gripper is fixedly connected to the side of the rotating shaft away from the frame. Multiple motors are installed on the side of the frame away from the conveying assembly, and the output end of the motors is fixedly connected to the middle of the rotating shaft.

[0010] Preferably, the lifting assembly includes multiple support blocks, the outer sides of which are fixedly connected to the outer wall of the frame, and two cylinders are installed on the front and rear sides of the frame, with the output end of each cylinder fixedly connected to the bottom of the support block.

[0011] Preferably, the translation component includes multiple high-definition cameras and an electric guide rail. The bottoms of the multiple high-definition cameras are fixedly connected to the top of the conveying component three. The electric guide rail is installed on the top of the frame. The output end of the electric guide rail is fixedly connected to two support platforms two. The top of the support platforms two is provided with a striking component.

[0012] Preferably, the striking assembly includes two support rods. The bottom of the support rods is fixedly connected to the top of the second support platform, and the top of the support rods is fixedly connected to the first support platform. A motor is mounted on the outer side of one of the first support platforms. A rotating rod is fixedly connected to the output end of the first motor. A cam is fixedly connected to the outer periphery of the rotating rod. A fixed rod is fixedly connected between the two second support platforms. An L-shaped rod is rotatably connected to the outer periphery of the fixed rod. One end of the connecting rod is connected to the outer side of the L-shaped rod, and a rubber hammer is fixedly connected to the other end of the connecting rod.

[0013] Preferably, the buffer assembly includes two cylinders, the bottom of which is mounted on the top of the fixed plate. One end of the telescopic rod is fixedly connected to the output end of the cylinder, and the other end of the telescopic rod is fixedly connected to an adsorption assembly. A spring is sleeved on the outer periphery of the telescopic rod.

[0014] Preferably, the top end of the spring is fixedly connected to the top of the telescopic rod, and the bottom end of the spring is fixedly connected to the top of the adsorption assembly.

[0015] Preferably, the outer side of the cam abuts against the top of the L-shaped rod, and the outer side of the rotating rod is rotatably connected between the two support platforms.

[0016] Preferably, the bottom of the frame has a notch, and a waste collection box is provided directly below the notch. Both the first conveying component and the second conveying component are equipped with photoelectric sensors, which are used to detect the arrival signal of the baking tray.

[0017] Preferably, it also includes a controller, which is electrically connected to the first conveying component, the second conveying component, the third conveying component, the first cylinder, the second cylinder, the pneumatic gripper, the electric guide rail, the high-definition camera, the first motor, and the second motor. The high-definition camera is used to identify the residue on the surface of the baking pan and feed it back to the controller.

[0018] A second aspect of the present invention provides an automatic crumb removal and return method for a baking pan, comprising the following steps:

[0019] S1. Transfer and loading: When the baking tray is detected to be conveyed to the first conveying component, the movable plate drives the buffer component to move directly above the baking tray, and the cylinder drives the adsorption component to descend and adsorb the baking tray; then the movable plate moves horizontally above the second conveying component, the cylinder descends again and releases the adsorption, and places the baking tray on the second conveying component.

[0020] S2. Feeding and clamping: When the baking tray is on the second conveying component, the second cylinder drives the frame to move upward to meet the conveying height, and the baking tray is conveyed to the third conveying component inside the frame; then the second cylinder drives the frame to reset, and the pneumatic grippers move synchronously to clamp the two sides of the baking tray.

[0021] S3, Flipping and cleaning: Cylinder 2 drives the frame to move up to the flipping height again, and motor 2 drives the shaft to rotate, causing the pneumatic gripper and baking tray to flip 180 degrees synchronously, so that the opening of the baking tray faces down, and the impurities fall into the waste collection box below under the action of gravity.

[0022] S4. Visual Inspection and Vibration Cleaning: A high-definition camera detects the residue on the bottom of the baking pan; if residue is found, the electric guide rail drives the tapping component to move to the corresponding position, and the motor drives the rotating rod and cam to rotate; the cam repeatedly abuts against and pushes the L-shaped rod to swing around the fixed rod, and drives the rubber hammer to lift up through the connecting rod and fall down to tap the back of the baking pan by gravity;

[0023] S5. Reset and return: After cleaning, the second motor rotates in the opposite direction to restore the baking tray to the open-facing state, the second cylinder drives the frame to move down to the initial position, and the pneumatic gripper releases the baking tray; then the second cylinder drives the frame to move up to avoid it, and the third conveying component starts to transport the baking tray to the next process.

[0024] This invention provides an automatic crumb removal and return system and method for baking trays. It has the following beneficial effects:

[0025] 1. This invention, through the combination of a flipping component and a tapping component, first uses a motor-driven shaft to flip the baking pan 180 degrees, using gravity to remove most of the loose residue; then, a high-definition camera detects the residue on the surface of the baking pan, and controls an electric guide rail to move the tapping component to the corresponding position, using a cam-driven rubber hammer to reciprocate and tap the back of the baking pan to remove stubborn residue. By combining gravity flipping with targeted physical vibration, the cleaning efficiency is improved, and the entire process requires no manual contact, avoiding secondary pollution.

[0026] 2. The present invention installs the flipping component inside the liftable frame, and drives the frame as a whole to move vertically through the second cylinder. This allows multiple actions such as feeding and positioning of the baking tray, clamping and flipping, vertical track changing and return output to be completed in the same work station. This three-dimensional structural layout avoids separating the flipping mechanism and the lifting mechanism, reduces the area occupied by the equipment on the ground, and simplifies the pipeline layout in the production workshop.

[0027] 3. This invention provides a buffer component at the bottom of the fixed plate and connects the adsorption component through the cooperation of the telescopic rod and the spring. When the cylinder drives the adsorption component to move downward and contact the baking tray, the elastic deformation of the spring can absorb the impact force at the moment of contact, thereby avoiding deformation of the baking tray or damage to the adsorption component due to rigid collision. This ensures the stability of the transfer and gripping while extending the service life of the equipment. Attached Figure Description

[0028] Figure 1 This is a perspective view of the right front side of the present invention;

[0029] Figure 2 This is a perspective view of the right rear side of the present invention;

[0030] Figure 3 This is a schematic diagram of the movable plate of the present invention;

[0031] Figure 4 This is a schematic diagram of the adsorption component of the present invention;

[0032] Figure 5 This is a schematic diagram of transmission component two and conveying component three of the present invention;

[0033] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0034] Figure 7 for Figure 5 Enlarged view of point B in the middle;

[0035] Figure 8 This is a schematic diagram of the frame of the present invention being raised;

[0036] Figure 9 This is a schematic diagram of the rubber hammer of the present invention;

[0037] Figure 10 This is a schematic diagram of the striking component of the present invention;

[0038] Figure 11 This is a schematic diagram of the pneumatic gripper of the present invention;

[0039] Figure 12 This is a schematic diagram of the frame of the present invention.

[0040] The components include: 1. Support frame; 2. Conveying assembly one; 3. Movable plate; 4. Cylinder one; 5. Fixed plate; 6. Spring; 7. Adsorption assembly; 8. Telescopic rod; 9. Conveying assembly two; 10. Frame; 11. Cylinder two; 12. Support block; 13. Rotating shaft; 14. Pneumatic gripper; 15. Frame; 16. Conveying assembly three; 17. Electric guide rail; 18. High-definition camera; 19. Motor one; 20. Support platform one; 21. Rotating rod; 22. Cam; 23. Support rod; 24. Support platform two; 25. Fixed rod; 26. L-shaped rod; 27. Motor two; 28. Connecting rod; 29. ​​Rubber hammer; 30. Controller. Detailed Implementation

[0041] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Please see the appendix Figure 1 - Appendix Figure 11 This invention provides an automatic crumb removal and return system for baking trays, including a support frame 1, a first conveying component 2, a second conveying component 9, and a frame 10. The support frame 1 has a movable plate 3 at its top, and multiple fixed plates 5 are fixedly connected to the bottom of the movable plate 3. Each of the multiple fixed plates 5 has a buffer component at its bottom. The frame 10 has a third conveying component 16 installed inside, a frame 15 at its top, a flipping component on the inner wall of the frame 15, a lifting component on the outer side of the frame 15, and a translation component at the top of the frame 15.

[0043] The flipping assembly includes multiple rotating shafts 13, which are rotatably connected inside the frame 15. A pneumatic gripper 14 is fixedly connected to the side of the rotating shaft 13 away from the frame 15. Multiple motors 27 are installed on the side of the frame 15 away from the conveying assembly 9, and the output end of the motors 27 is fixedly connected to the middle of the rotating shaft 13.

[0044] Specifically, the support frame 1 is a rigid metal structure spanning above conveyor assembly 2 and conveyor assembly 9, supporting the top moving mechanism. Conveyor assembly 2 is an infeed conveyor belt used to carry the baking trays to be cleaned. Conveyor assembly 9 is a transition conveyor belt located to the side of conveyor assembly 2. The movable plate 3 is slidably connected to the top of the support frame 1 via a linear module or linear guide rail, enabling horizontal reciprocating linear movement between directly above conveyor assembly 2 and conveyor assembly 9. This movement drives the bottom suction mechanism to transfer the baking trays to their workstations. The fixed plate 5 serves as the mounting base for the buffer assembly, supporting the buffer... The conveying components operate normally. When the baking tray needs to be conveyed from conveying component 2 9 to conveying component 3 16, the lifting component moves the frame 15 upward. When the frame 15 moves upward a distance sufficient for the baking tray to flip, the lifting component stops operating. At this time, motor 27 starts. Since the pneumatic grippers 14 are all connected to the frame 15 through the rotating shaft 13, motor 27 drives the rotating shaft 13 to rotate, thereby causing the pneumatic grippers 14 located on the same side as motor 27 to flip. Since the pneumatic grippers 14 on the other side also grip the baking tray, they will be driven to rotate together, thus achieving the effect of flipping the baking tray 180°.

[0045] Please see the appendix Figure 5 Appendix Figure 8 and attached Figure 9 The lifting assembly includes multiple support blocks 12, all of which are fixedly connected to the outer wall of the frame 15. Two cylinders 11 are installed on the front and rear sides of the frame 10, and the output end of the cylinders 11 is fixedly connected to the bottom of the support blocks 12.

[0046] Specifically, cylinder 2 11 is installed on the front and rear sides of frame 10 to ensure stable operation. When cylinder 2 11 is started, its output end will push support block 12 to move upward, thereby driving frame 15 to move upward. Frame 15 has three positions: initial low position, used for pneumatic gripper 14 to align with baking tray on conveyor assembly 3 16; flip high position, so that frame 15 rises to a predetermined height to ensure that the baking tray does not interfere with the components below when flipping; and clearance position, so that conveyor assembly 3 16 outputs the baking tray.

[0047] Please see the appendix Figure 5 and attached Figure 8 The translation component includes multiple high-definition cameras 18 and an electric guide rail 17. The bottoms of the multiple high-definition cameras 18 are fixedly connected to the top of the conveying component 16. The electric guide rail 17 is installed on the top of the frame 15. The output end of the electric guide rail 17 is fixedly connected to two support platforms 24. The top of the support platforms 24 is equipped with a striking component.

[0048] Specifically, the lens of the high-definition camera 18 is directed towards the baking pan to collect image data after the baking pan is flipped. The electric guide rail 17 is set along the length of the baking pan. The controller 30 controls the electric guide rail 17 to drive the support platform 24 and the tapping component to move according to the position coordinates of the residue fed back by the high-definition camera 18. This causes the tapping component to be positioned directly above the area where the residue is located, achieving targeted physical removal.

[0049] To achieve precise positioning, the system employs a coordinate transformation algorithm. The plane containing the conveyor component 3.16 is defined as the world coordinate system. The image coordinate system of HD camera 18 is The motion coordinate system of the electric guide rail 17 is .

[0050] Image coordinates Target position of the tapping component The transformation relationship is shown in the following formula:

[0051] ;

[0052] in, The target distance that the electric guide rail 17 needs to move; This is the ratio of image pixels to actual physical distance; The horizontal pixel coordinates of the residue in the image; The horizontal pixel coordinates of the image center; This is the physical deviation between the center of the camera's optical axis and the initial position of the striking component; Set the system calibration compensation value.

[0053] The controller 30 calculates the result based on the above formula. It also sends pulse signals to the electric guide rail 17 to achieve precision strikes.

[0054] Please see the appendix Figure 5 Appendix Figure 7 Appendix Figure 9 and attached Figure 10 The striking assembly includes two support rods 23. The bottom of the support rods 23 is fixedly connected to the top of the second support platform 24. The top of the support rods 23 is fixedly connected to the first support platform 20. A motor 19 is installed on the outside of one of the first support platforms 20. A rotating rod 21 is fixedly connected to the output end of the motor 19. A cam 22 is fixedly connected to the outer periphery of the rotating rod 21. A fixing rod 25 is fixedly connected between the two second support platforms 24. An L-shaped rod 26 is rotatably connected to the outer periphery of the fixing rod 25. One end of a connecting rod 28 is connected to the outside of the L-shaped rod 26. A rubber hammer 29 is fixedly connected to the other end of the connecting rod 28.

[0055] Specifically, support rod 23 is used not only to support support platform 20, but also to connect support platform 20 and support platform 24, so that support platform 20 and support platform 24 can move together. When it is detected that the bread crumbs inside the baking pan cannot fall naturally by gravity, the striking component needs to be moved to the baking pan that needs to be struck, and then motor 19 is started. The output end of motor 19 will drive the rotating rod 21 to rotate slowly and continuously, so that cam 22 also rotates with rotating rod 21. When the protruding part of cam 22 contacts the top part of L-shaped rod 26, L-shaped rod 26 will drive connecting rod 28 and rubber hammer 29 to rotate around fixed rod 25, so that rubber hammer 29 moves upward. When the protruding part of cam 22 is no longer in contact with L-shaped rod 26, rubber hammer 29 will lose external force and fall automatically downward under the action of gravity, thereby striking the bread crumbs remaining inside the baking pan; and when rubber hammer 29 moves to a high position, it will not affect the flipping of the baking pan.

[0056] Please see the appendix Figure 1 Appendix Figure 3 and attached Figure 4 The buffer assembly includes two cylinders 4. The bottom of the cylinders 4 is mounted on the top of the fixed plate 5. One end of the telescopic rod 8 is fixedly connected to the output end of the cylinders 4. The other end of the telescopic rod 8 is fixedly connected to the adsorption assembly 7. A spring 6 is sleeved on the outer periphery of the telescopic rod 8.

[0057] Specifically, there is a relative displacement space between the telescopic rod 8 and the output shaft of cylinder 4. At the instant when cylinder 4 drives the adsorption component 7 to move downward and contact the surface of the baking tray, the adsorption component 7 stops moving due to the reaction force, while the output end of cylinder 4 continues to press downward, causing the telescopic rod 8 to retract relatively and compress the spring 6. The elastic deformation of the spring 6 absorbs the rigid impact energy, maintains the flexible contact pressure between the adsorption component 7 and the baking tray, and prevents hard collisions from damaging the equipment and the baking tray.

[0058] Please see the appendix Figure 4 The top of spring 6 is fixedly connected to the top of telescopic rod 8, and the bottom of spring 6 is fixedly connected to the top of adsorption assembly 7.

[0059] Specifically, the spring 6 is pre-tensioned and installed on the outside of the telescopic rod 8 to ensure that the adsorption assembly 7 remains extended when no external force is applied, and to provide restoring force.

[0060] Please see the appendix Figure 5 Appendix Figure 7 and attached Figure 9 The outer side of cam 22 abuts against the top of L-shaped rod 26, and the outer side of rotating rod 21 is rotatably connected between two support platforms 20.

[0061] Specifically, when the rotating rod 21 is driven to rotate, it will drive the cam 22 together. When the protruding part of the cam 22 contacts the top of the L-shaped rod 26, it can push the L-shaped rod 26 to rotate around the fixed rod 25.

[0062] Please see the appendix Figure 1 Appendix Figure 2 and attached Figure 12 The bottom of the frame 10 has a notch, and a waste collection box is set directly below the notch. Both the conveying component 1 2 and the conveying component 2 9 are equipped with photoelectric sensors, which are used to detect the arrival signal of the baking tray.

[0063] Specifically, the notch at the bottom of the frame 10 allows the falling residue to directly enter the waste collection bin, thereby achieving the collection of bread crumbs; the photoelectric sensor monitors the obstruction signal on the conveyor line in real time and sends the position status signal to the control system to trigger subsequent actions.

[0064] Please see the appendix Figure 1 - Appendix Figure 12 The automatic crumb removal and return system for baking trays also includes a controller 30, which is electrically connected to conveyor assembly 2, conveyor assembly 9, conveyor assembly 3 16, cylinder 4, cylinder 11, pneumatic gripper 14, electric guide rail 17, high-definition camera 18, motor 19, and motor 27. The high-definition camera 18 is used to identify the residue on the surface of the baking tray and feed it back to the controller 30.

[0065] Specifically, the controller 30 receives input signals from each sensor and sends pulse or level signals to each actuator according to a preset logic program. After the image captured by the high-definition camera 18 is binarized, it is determined whether there is a black pixel block (i.e., residue) that meets the preset area threshold. If it exists, its geometric center coordinates are calculated and sent to the controller 30 to control the movement of the electric guide rail 17.

[0066] Please see the appendix Figure 1 - Appendix Figure 12 This invention provides an automatic crumb removal and return method for baking trays, comprising the following steps:

[0067] S1. Transfer and loading: When the baking tray is detected to be conveyed to the conveying component 2, the movable plate 3 drives the buffer component to move directly above the baking tray, and the cylinder 4 drives the adsorption component 7 to descend and adsorb the baking tray; then the movable plate 3 moves horizontally above the conveying component 9, the cylinder 4 descends again and releases the adsorption, and places the baking tray on the conveying component 9.

[0068] S2. Feeding and clamping: When the baking tray is on the second conveyor assembly 9, the second cylinder 11 drives the frame 15 to move upward to meet the conveying height, and the baking tray is conveyed to the third conveyor assembly 16 inside the frame 10; then the second cylinder 11 drives the frame 15 to reset, and the pneumatic gripper 14 moves synchronously to clamp the two sides of the baking tray.

[0069] S3, Flipping and cleaning: Cylinder 2 11 drives frame 15 to move up to the flipping height again, motor 27 drives shaft 13 to rotate, driving pneumatic gripper 14 and baking tray to flip 180 degrees synchronously, so that the opening of the baking tray faces down, and the impurities fall into the waste collection box below under the action of gravity.

[0070] S4. Visual inspection and vibration cleaning: The high-definition camera 18 detects the residue on the bottom of the baking pan; if there is residue, the electric guide rail 17 drives the tapping component to move to the corresponding position, and the motor 19 drives the rotating rod 21 and cam 22 to rotate; the cam 22 repeatedly abuts against and pushes the L-shaped rod 26 to swing around the fixed rod 25, and drives the rubber hammer 29 to lift up through the connecting rod 28 and fall down to tap the back of the baking pan by gravity;

[0071] S5. Reset and return: After cleaning, motor 27 rotates in the opposite direction to restore the baking tray to the open-facing position, cylinder 21 drives frame 15 to move down to the initial position, and pneumatic gripper 14 releases the baking tray; then cylinder 21 drives frame 15 to move up to avoid it, and conveyor assembly 316 starts to convey the baking tray to the next process.

[0072] Specifically, in step S1, during the adsorption process, the spring 6 of the buffer component is compressed and deformed to balance the downward pressure of the cylinder 4 and the reaction force of the baking tray. The translational speed of the movable plate 3 and the adsorption action are coordinated in sequence by the controller 30 to complete the cross-line transport. In step S2, the vertical displacement of the frame 15 eliminates the structural interference between the second conveying component 9 and the third conveying component 16, allowing the baking tray to move smoothly from the second conveying component 9 to the third conveying component 16. Then, the pneumatic gripper 14 closes after the frame 15 returns to its low position, ensuring that the gripping point is located on the center axis of the baking tray. In step S3, the frame 15 is moved up to the flipping height to provide a rotation radius space with the rotating shaft 13 as the center. This ensures that the baking tray's rotation is not affected, and motor 27 maintains high torque output to maintain the stability of the baking tray in the inverted state. Most non-adhesive particles detach in this step. Step S4 uses local high-frequency vibration to break the adhesion between the residue and the baking tray surface. High-definition camera 18 provides feedback signals. If there are still residues after tapping and re-detection, controller 30 can instruct repeated tapping until the detection is qualified. In step S5, before the pneumatic gripper 14 releases, frame 15 needs to move down so that the bottom of the baking tray contacts the roller surface of conveying component 3 16 to prevent the baking tray from falling. Then, frame 15 moves up to the avoidance position to remove the physical obstruction to the horizontal conveying path of the baking tray and complete the return process.

[0073] Working principle: When the photoelectric sensor detects that the baking tray is being conveyed to the conveying assembly 2, the controller 30 controls the movable plate 3 to move directly above the conveying assembly 2. Then, the cylinder 4 starts, driving the adsorption component 7 at its output end to extend downward to adsorb and fix the baking tray. After adsorption is completed, the movable plate 3 moves the baking tray horizontally to directly above the conveying assembly 9. The cylinder 4 then descends again, the adsorption component 7 releases adsorption, and the baking tray is placed stably on the conveying assembly 9.

[0074] When the photoelectric sensor detects that the baking tray is on the second conveying component 9, the second cylinder 11 is activated, driving the support block 12 and the frame 15 to move upward, so that the height of the frame 15 matches the conveying path of the baking tray, ensuring that the baking tray can be smoothly conveyed into the third conveying component 16. When the baking tray is completely inside the third conveying component 16, the second cylinder 11 drives the frame 15 to return to the initial height. At this time, the pneumatic grippers 14 installed on both sides of the inner wall of the frame 15 move synchronously to clamp the sides of the baking tray.

[0075] After the pneumatic gripper 14 stably holds the baking tray, the second cylinder 11 drives the frame 15 to move upward again to the preset flipping height. Then, the second motor 27 starts and drives the rotating shaft 13 to rotate. Since the pneumatic gripper 14 is fixedly connected to the rotating shaft 13, the second motor 27 drives the pneumatic gripper 14 and the baking tray to rotate 180 degrees synchronously, so that the opening of the baking tray faces downward. Under the action of gravity, the residual crumbs in the baking tray fall into the waste collection box below the frame 10.

[0076] The high-definition camera 18 captures and detects the bottom surface of the flipped baking pan. If the controller 30 determines that there are still residues on the baking pan based on the feedback signal, it controls the electric guide rail 17 to move, driving the striking component to move above the corresponding baking pan. Subsequently, the motor 19 starts, driving the rotating rod 21 and cam 22 to rotate. When the protruding end of the cam 22 abuts against the L-shaped rod 26, it pushes the L-shaped rod 26 to rotate around the fixed rod 25, driving the rubber hammer 29 to lift through the connecting rod 28. When the cam 22 rotates to disengage from the L-shaped rod 26, the rubber hammer 29 falls under the action of gravity and strikes the back of the baking pan. Through the continuous rotation of the motor 19, the baking pan is reciprocated and vibrated to remove the crumbs.

[0077] After the cleaning is completed, motor 27 drives shaft 13 to rotate in the opposite direction, restoring the baking tray to a horizontal position with the opening facing upwards. Cylinder 2 11 drives frame 15 to move down to the initial position, and pneumatic gripper 14 releases the baking tray. Subsequently, cylinder 2 11 drives frame 15 to move up again (to avoid the conveyor path), and conveyor assembly 3 16 starts to transport the clean baking tray to the next process.

Claims

1. An automatic crumb removal and return system for baking trays, characterized in that, The system includes a support frame (1), a first conveying component (2), a second conveying component (9), and a frame (10). The support frame (1) has a movable plate (3) on its top. The bottom of the movable plate (3) is fixedly connected to multiple fixed plates (5). The bottom of each of the multiple fixed plates (5) is provided with a buffer component. The frame (10) has a third conveying component (16) installed inside. The top of the frame (10) has a frame (15). The inner wall of the frame (15) is provided with a flipping component. The outer side of the frame (15) is provided with a lifting component. The top of the frame (15) is provided with a translation component. The flipping assembly includes multiple rotating shafts (13), which are rotatably connected inside the frame (15). A pneumatic gripper (14) is fixedly connected to the side of the rotating shaft (13) away from the frame (15). Multiple motors (27) are installed on the side of the frame (15) away from the conveying assembly (9). The output end of the motors (27) is fixedly connected to the middle of the rotating shaft (13).

2. The automatic crumb removal and return system for baking trays according to claim 1, characterized in that, The lifting assembly includes multiple support blocks (12), and the outer sides of the multiple support blocks (12) are fixedly connected to the outer wall of the frame (15). Two cylinders (11) are installed on the front and rear sides of the frame (10), and the output end of the cylinders (11) is fixedly connected to the bottom of the support blocks (12).

3. The automatic crumb removal and return system for baking trays according to claim 1, characterized in that, The translation component includes multiple high-definition cameras (18) and an electric guide rail (17). The bottom of each of the multiple high-definition cameras (18) is fixedly connected to the top of the three conveying components (16). The electric guide rail (17) is installed on the top of the frame (15). The output end of the electric guide rail (17) is fixedly connected to two support platforms (24). The top of the support platforms (24) is provided with a striking component.

4. The automatic crumb removal and return system for baking trays according to claim 3, characterized in that, The striking assembly includes two support rods (23). The bottom of the support rod (23) is fixedly connected to the top of the second support platform (24). The top of the support rod (23) is fixedly connected to the first support platform (20). A motor (19) is installed on the outside of one of the first support platforms (20). A rotating rod (21) is fixedly connected to the output end of the first motor (19). A cam (22) is fixedly connected to the outer periphery of the rotating rod (21). A fixing rod (25) is fixedly connected between the two second support platforms (24). An L-shaped rod (26) is rotatably connected to the outer periphery of the fixing rod (25). One end of a connecting rod (28) is connected to the outside of the L-shaped rod (26). A rubber hammer (29) is fixedly connected to the other end of the connecting rod (28).

5. The automatic crumb removal and return system for baking trays according to claim 1, characterized in that, The buffer assembly includes two cylinders (4). The bottom of the cylinders (4) is mounted on the top of the fixed plate (5). The output end of the cylinders (4) is fixedly connected to one end of a telescopic rod (8). The other end of the telescopic rod (8) is fixedly connected to an adsorption assembly (7). A spring (6) is sleeved on the outer periphery of the telescopic rod (8).

6. The automatic crumb removal and return system for baking trays according to claim 5, characterized in that, The top end of the spring (6) is fixedly connected to the top of the telescopic rod (8), and the bottom end of the spring (6) is fixedly connected to the top of the adsorption assembly (7).

7. The automatic crumb removal and return system for baking trays according to claim 4, characterized in that, The outer side of the cam (22) abuts against the top of the L-shaped rod (26), and the outer side of the rotating rod (21) is rotatably connected between the two support platforms (20).

8. The automatic crumb removal and return system for baking trays according to claim 1, characterized in that, The bottom of the frame (10) has a notch, and a waste collection box is set directly below the notch. Both the first conveying component (2) and the second conveying component (9) are equipped with photoelectric sensors, which are used to detect the arrival signal of the baking tray.

9. The automatic crumb removal and return system for baking trays according to claim 4, characterized in that, It also includes a controller (30), which is electrically connected to the first conveying component (2), the second conveying component (9), the third conveying component (16), the first cylinder (4), the second cylinder (11), the pneumatic gripper (14), the electric guide rail (17), the high-definition camera (18), the first motor (19), and the second motor (27), respectively. The high-definition camera (18) is used to identify the residue on the surface of the baking pan and feed it back to the controller (30).

10. A method for automatically cleaning and returning a baking tray, characterized in that, The automatic crumb removal and return system for baking trays as described in any one of claims 1-9 includes the following steps: S1, Transfer and loading: When the baking tray is detected to be conveyed to the first conveying component (2), the movable plate (3) drives the buffer component to move directly above the baking tray, and the cylinder (4) drives the adsorption component (7) to descend and adsorb the baking tray; then the movable plate (3) moves horizontally to above the second conveying component (9), the cylinder (4) descends again and releases the adsorption, and places the baking tray on the second conveying component (9); S2, Feeding and Clamping: When the baking tray is on the second conveying component (9), the second cylinder (11) drives the frame (15) to move upward to meet the conveying height, and the baking tray is conveyed to the third conveying component (16) inside the frame (10); then the second cylinder (11) drives the frame (15) to reset, and the pneumatic gripper (14) moves synchronously and clamps the two sides of the baking tray; S3, Flipping and cleaning: Cylinder 2 (11) drives the frame (15) to move up to the flipping height again, and motor 2 (27) drives the rotating shaft (13) to rotate, which drives the pneumatic gripper (14) and the baking tray to flip 180 degrees in sync, so that the opening of the baking tray faces down, and the impurities fall into the waste collection box below under the action of gravity. S4. Visual inspection and vibration cleaning: The high-definition camera (18) detects the residue on the bottom of the baking pan; if there is residue, the electric guide rail (17) drives the striking component to move to the corresponding position, and the motor (19) drives the rotating rod (21) and cam (22) to rotate; the cam (22) repeatedly abuts against and pushes the L-shaped rod (26) to swing around the fixed rod (25), and drives the rubber hammer (29) to be lifted through the connecting rod (28) and fall down to strike the back of the baking pan by gravity; S5. Reset and return: After cleaning, the second motor (27) rotates in the opposite direction to restore the baking tray to the open-facing state. The second cylinder (11) drives the frame (15) to move down to the initial position. The pneumatic gripper (14) releases the baking tray. Then the second cylinder (11) drives the frame (15) to move up to avoid it. The third conveying component (16) starts to transport the baking tray to the next process.

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