A transfer and discharge apparatus and process for freeze-dried food

Abstract

This invention relates to a transfer and unloading device and process for freeze-dried food, comprising a box body, a lifting platform disposed inside the box body, and an unloading module disposed above the lifting platform. A lifting frame is connected to the lower end of the lifting platform via a gas spring. A lifting assembly is disposed between the lifting frame and the bottom of the box body. The lifting assembly drives the lifting frame and the lifting platform to move vertically. A clamping assembly for positioning the turnover box is disposed on the lifting platform, and a vibration motor is disposed at the lower end of the lifting platform, which drives the lifting platform and the turnover box to vibrate synchronously. This invention utilizes the connection between the material-picking assembly and the negative pressure suction pipe to facilitate the retrieval of freeze-dried food from inside the turnover box and transport it to the packaging line through the negative pressure suction pipe. Combined with a weighing sensor providing real-time feedback on the material weight and the synchronous extension and retraction of a four-push-rod parallel mechanism, the material-picking port dynamically follows the material surface, ensuring the integrity of the freeze-dried food during unloading.

Description

Technical Field

[0001] This invention relates to the field of food transfer and unloading technology, specifically to a transfer and unloading device and process for freeze-dried foods. Background Technology

[0002] Freeze-dried foods occupy an important position in the high-end food market because they can retain the color, aroma, flavor and nutrients of the ingredients to the greatest extent. During the transportation of freeze-dried foods, the freeze-dried materials are usually packed in turnover boxes and need to be transported to the subsequent packaging production line through a transfer and unloading device. Because freeze-dried foods are crisp, fragile and extremely sensitive to moisture, their unloading process faces many challenges. Existing freeze-dried food transfer and unloading devices mostly adopt tilting or grabbing transfer methods. However, tilting between turnover boxes can easily cause collisions between freeze-dried foods, leading to material breakage and generating a large amount of debris. On the other hand, grabbing transfer has low efficiency and the grabbing path planning is relatively complex. Based on this, we propose a transfer and unloading device and process for freeze-dried foods to solve the above problems. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a transfer and unloading device and process for freeze-dried foods. By dynamically following and picking up materials, it adapts to the fragile characteristics of the materials, ensuring the integrity of the freeze-dried foods during unloading while maintaining unloading efficiency. This solves the problems of existing freeze-dried food transfer and unloading devices, which mostly use tilting or grabbing transfer methods. However, tilting between turnover boxes can easily cause collisions between freeze-dried foods, leading to material breakage and generating a large amount of debris. Furthermore, grabbing transfer has low efficiency and complex grabbing path planning.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a transfer and unloading device for freeze-dried food, comprising a box body, a lifting platform disposed inside the box body, and an unloading module disposed above the lifting platform. The lower end of the lifting platform is connected to a lifting frame via a gas spring. A lifting assembly is disposed between the lifting frame and the bottom of the box body. The lifting assembly is used to drive the lifting frame and the lifting platform to move in the vertical direction. A clamping assembly for positioning turnover boxes is disposed on the lifting platform. A vibration motor is disposed at the lower end of the lifting platform. The vibration motor is used to drive the lifting platform and the turnover boxes to vibrate synchronously. The unloading module includes a fixed outer protective cover, a negative pressure suction pipe, and a material-retrieving component installed inside the outer protective cover. One end of the negative pressure suction pipe is connected to an external negative pressure source, and the other end of the negative pressure suction pipe is connected to the material-retrieving component. When the lifting component drives the lifting platform to rise to the preset work position, the upper port of the turnover box extends into the outer protective cover to form an unloading chamber. The material-retrieving component is used to perform negative pressure suction on the freeze-dried food in the unloading chamber and transport it to the downstream packaging line through the negative pressure suction pipe.

[0005] Furthermore, a weighing sensor is embedded inside the lifting platform to detect the weight change of the turnover box in real time. A control unit is installed on the box body. The control unit is electrically connected to the weighing sensor, lifting assembly, vibrating motor and material handling assembly, and is used to adjust the posture of the material handling assembly and the operating parameters of the vibrating motor according to the weight feedback data.

[0006] Furthermore, the lifting assembly includes a double-ended lead screw rotatably mounted on the bottom of the inner side of the housing, movable seats threaded onto both ends of the double-ended lead screw, a hinge plate hinged onto the movable seats, and a servo motor fixedly mounted on the outer wall of the housing. The output end of the servo motor is connected to one end of the double-ended lead screw to drive the double-ended lead screw to rotate. When the servo motor drives the double-ended lead screw to rotate, it synchronously drives the two movable seats to move closer or further apart, thereby driving the lifting frame to move smoothly in the vertical direction through the synchronous opening and closing of the hinge plate.

[0007] Furthermore, the threads at both ends of the double-ended lead screw are opposite but have the same pitch. The upper ends of the two hinge plates are rotatably connected to the two sides of the lower end of the lifting frame, respectively. When the moving seat drives the lower end of the hinge plate to move, the two hinge plates open and close synchronously, driving the lifting frame to move in the vertical direction.

[0008] Furthermore, the clamping assembly includes two symmetrically arranged clamping plates. Anti-slip rubber pads are provided on the clamping surfaces of the clamping plates. The lower ends of the two clamping plates are respectively connected to the two sides of the lifting platform through an adjustment assembly. The adjustment assembly is used to change the position of the two clamping plates respectively to form a clamping limit on the turnover box. Positioning blocks are fixedly installed on both sides of the lower end of the clamping plates. The surface of the lifting platform is provided with guide grooves corresponding to the positioning blocks. The positioning blocks and guide grooves are slidably connected.

[0009] Furthermore, the adjustment component includes an installation cavity inside the lifting platform, a threaded rod installed in the installation cavity, a movable block threaded onto the threaded rod, a groove on the surface of the lifting platform, and a slider slidably installed in the groove. A rotary motor is fixedly installed on the inner wall of the installation cavity. The output end of the rotary motor is connected to one end of the threaded rod, and the other end of the threaded rod is rotatably connected to the inner wall of the installation cavity. The lower end of the slider is fixedly connected to the movable block, and the upper end of the slider is fixedly connected to the lower end of the clamping plate, thereby achieving adaptive clamping and limiting of turnover boxes of different specifications.

[0010] Furthermore, the material handling assembly includes a material handling port and a connecting seat fixedly installed on the outer wall of the material handling port. The upper end of the material handling port is sealed and connected through a flexible hose and a negative pressure suction pipe. The opening of the material handling port faces the turnover box. The connecting seat is movably connected to the inner wall of the outer protective cover through a driving component.

[0011] Furthermore, the driving component consists of four electric actuators arranged in a ring array. The fixed end of each electric actuator is rotatably connected to the inner wall of the outer cover via an upper universal joint, and the telescopic end of each electric actuator is rotatably connected to the outer wall of the connecting seat via a lower universal joint. By controlling the synchronous or differential extension and retraction of the four electric push rods, the material inlet is driven to adjust its height and deflect at multiple angles within the unloading chamber.

[0012] Furthermore, a dispersing component is provided on the side of the lower end of the connecting seat. The dispersing component includes four engaging slots opened on the side of the lower end face of the connecting seat, a toothed plate installed in one of the engaging slots, an engaging block provided on the upper end of the toothed plate, the engaging block and the engaging slot being slidably connected, and a locking bolt being threaded on the surface of the engaging block. The locking bolt abuts against the inner wall of the engaging slot to fix the position of the toothed plate. The lower end of the toothed plate has equally spaced silicone teeth. When the driving component drives the feeding port to move to a certain direction, the silicone teeth move to loosen the material. The lower end of the toothed plate has equally spaced silicone teeth. When the driving component drives the feeding port to move to a certain direction, the silicone teeth move accordingly to loosen the compacted material at the bottom and corners.

[0013] The present invention also provides a transfer and unloading process for freeze-dried food, which uses the above-mentioned transfer and unloading device and includes the following steps: S1. Loading and positioning: Place the turnover box containing freeze-dried food on the lifting platform, start the clamping component to clamp and position the turnover box, and record the initial weight W0 through the weighing sensor. S2. Sealing and Environmental Setup: Start the lifting assembly to drive the lifting platform to rise, so that the upper port of the turnover box extends into the outer cover to form the unloading chamber; S3, Dynamic Follow-up Unloading: Start the vibration motor to loosen the surface of the material, control the four electric push rods to extend synchronously, drive the feeding port to descend to a preset distance H from the material surface to start suction. As the material decreases, the control unit dynamically adjusts the extension of the electric push rods according to the real-time weight data of the weighing sensor to keep the relative distance between the feeding port and the material surface constant. S4. Bottom Loosening: When the remaining material is detected to be lower than the set threshold, control the four electric push rods to perform differential extension and retraction, drive the feeding port to deflect towards the bottom of the turnover box, use the dispersing component to loosen the compacted material at the bottom of the turnover box, and at the same time increase the frequency of the vibration motor to assist the fluidization and suction of the bottom material. S5. Reset and Discharge: When the weighing sensor detects that the weight is stable within the tare weight range, the vibration motor is turned off, and the electric push rod is controlled to retract and lift the material pick-up port. The lifting platform descends and resets, and the clamping assembly is released to remove the empty box.

[0014] Compared with the prior art, the technical solution of this application has the following beneficial effects: 1. This invention utilizes the connection between the material-picking component and the negative pressure suction pipe to facilitate the retrieval of freeze-dried food from inside the turnover box and transport it to the packaging line through the negative pressure suction pipe. Combined with the real-time feedback of the material weight by the weighing sensor and the synchronous extension and retraction of the four-push rod parallel mechanism, the material-picking port dynamically follows the material surface, ensuring the integrity of the freeze-dried food during unloading. 2. This invention utilizes a vibrating motor to drive the shaking of the turnover box, which disperses the material inside the turnover box, facilitating negative pressure absorption of freeze-dried food and preventing the material from accumulating and compacting at the bottom of the turnover box. 3. The multi-angle offset of the material handling component of this invention makes it easy to adapt to the inner diameter of the turnover box. At the same time, in conjunction with the dispersing component, it can actively touch and loosen the compacted freeze-dried food to prevent the formation of residue. 4. During unloading, the turnover box rises into the outer protective cover to form an isolation and protection, so that the entire unloading process is in a semi-enclosed space. At the same time, combined with weight feedback, control and adjustment are realized, which improves practicality. Attached Figure Description

[0015] Figure 1 The diagram shown is a schematic representation of the internal structure of the present invention. Figure 2 The diagram shown is a three-dimensional structural schematic of the present invention; Figure 3 The diagram shown is a schematic representation of the internal structure of the housing of this invention. Figure 4 The diagram shown is a schematic representation of the lifting platform structure of the present invention. Figure 5 The diagram shown is a schematic representation of the internal structure of the lifting platform of the present invention. Figure 6 The diagram shown is a schematic representation of the electric actuator structure of the present invention. Figure 7 The diagram shown is a schematic representation of the connector structure of the present invention. Figure 8 The diagram shown is a cross-sectional structural diagram of the connector of the present invention.

[0016] Explanation of reference numerals in the attached drawings: 1. Box body; 2. Lifting platform; 21. Weighing sensor; 3. Gas spring; 4. Lifting frame; 401. Double-ended lead screw; 402. Moving seat; 403. Hinge plate; 404. Servo motor; 5. Outer protective cover; 6. Negative pressure suction pipe; 7. Vibration motor; 8. Clamping plate; 801. Mounting cavity; 802. Threaded rod; 803. Moving block; 804. Slide groove; 805. Sliding block; 806. Rotary motor; 9. Material inlet; 10. Connecting seat; 11. Electric push rod; 12. Engaging groove; 13. Toothed plate; 131. Engaging block. Detailed Implementation

[0017] The technical solutions of 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.

[0018] Example 1 Please see Figures 1-8 This embodiment discloses a transfer and unloading device for freeze-dried food, comprising a housing 1, a lifting platform 2 disposed inside the housing 1, and an unloading module disposed above the lifting platform 2. The lower end of the lifting platform 2 is connected to a lifting frame 4 via a gas spring 3. A lifting assembly is disposed between the lifting frame 4 and the bottom of the housing 1, and the lifting assembly drives the lifting frame 4 and the lifting platform 2 to move vertically. A clamping assembly for positioning turnover boxes is disposed on the lifting platform 2, and a vibration motor 7 is disposed at the lower end of the lifting platform 2, which drives the lifting platform 2 and the turnover boxes to vibrate synchronously. The unloading module includes a fixed outer protective cover 5, a negative pressure suction pipe 6, and a material-collecting assembly disposed within the outer protective cover 5. One end of the 6 is connected to an external negative pressure source, and the other end of the negative pressure suction pipe 6 is connected to the material taking component. When the lifting component drives the lifting platform 2 to rise to the preset work position, the upper port of the turnover box extends into the outer protective cover 5 to form a discharge chamber. The material taking component is used to perform negative pressure suction on the freeze-dried food in the discharge chamber and transport it to the rear packaging line through the negative pressure suction pipe 6. A weighing sensor 21 is embedded inside the lifting platform 2. The weighing sensor 21 is used to detect the weight change of the turnover box in real time. A control unit is set on the box body 1. The control unit is electrically connected to the weighing sensor 21, the lifting component, the vibration motor 7 and the material taking component respectively. It is used to adjust the posture of the material taking component and the operating parameters of the vibration motor 7 according to the weight feedback data.

[0019] It should be noted that after the turnover box is sent to the lifting platform 2 and clamped and fixed, the lifting component sends the turnover box into the inner side of the outer protective cover 5 to form isolation and protection. The high-frequency excitation force generated during operation directly acts on the platform and the turnover box, causing micro-amplitude relative movement between the freeze-dried food particles, breaking the arch bridge effect and realizing material fluidization. The gas spring 3 absorbs most of the downward vibration energy, avoids the lifting component from bearing alternating load, and uses the material picking component to perform negative pressure suction to transport the freeze-dried food through the negative pressure suction pipe 6, ensuring the integrity of the freeze-dried food when unloading. Meanwhile, the material handling component and the negative pressure suction pipe 6 form a local negative pressure conveying circuit. The negative pressure suction pipe 6 is made of food-grade stainless steel with a smooth inner wall. Its inner diameter is designed to be 80-120mm according to the particle size and conveying volume of the freeze-dried food. The bending radius of the pipe is not less than 5 times the pipe diameter to reduce collision and breakage during material conveying. One end of the negative pressure suction pipe 6 is connected to the air inlet of an external negative pressure source (such as a Roots blower or a vortex vacuum pump), and the other end is sealed to the upper end of the material handling port 9 through a flexible corrugated pipe. The length of the flexible corrugated pipe is 300-500mm and can be adjusted according to the material handling port 9. The multi-degree-of-freedom movement allows for free expansion and contraction without generating stress transmission to the material inlet 9, ensuring the stability of the material inlet posture. A cyclone separator is also connected in series at one end of the negative pressure suction pipe 6 near the external negative pressure source. The lower outlet of the cyclone separator is connected to the buffer chamber of the rear packaging line through a rotary valve, and the upper exhaust port is connected to the air inlet of the negative pressure source. The cyclone separator can efficiently separate the freeze-dried food in the conveying airflow, preventing the material from directly entering the negative pressure source and causing damage. For example, a negative pressure pneumatic conveying system with patent number CN118790750A uses negative pressure pneumatics as the power for raw material conveying.

[0020] Please see Figure 1 , Figure 2 and Figure 3 In this embodiment, the lifting assembly includes a double-ended lead screw 401 rotatably mounted on the bottom inner side of the housing 1, movable seats 402 threaded onto both ends of the double-ended lead screw 401, hinge plates 403 hinged onto the movable seats 402, and a servo motor 404 fixedly mounted on the outer wall of the housing 1. The output end of the servo motor 404 is connected to one end of the double-ended lead screw 401 and is used to drive the double-ended lead screw 401 to rotate. When the double-ended lead screw 401 rotates, it synchronously drives the two movable seats 402 to move closer or further apart. The threads at both ends of the double-ended lead screw 401 are opposite and have the same pitch. The upper ends of the two hinge plates 403 are rotatably connected to the two sides of the lower end of the lifting frame 4, respectively. When the movable seats 402 drive the lower ends of the hinge plates 403 to move, the two hinge plates 403 synchronously open and close, driving the lifting frame 4 to move in the vertical direction.

[0021] It should be noted that when the servo motor 404 stops driving, the threaded friction of the double-ended lead screw 401 has a certain self-locking property. At the same time, in order to reduce the impact of vibration on the lifting component, the servo motor 404 is used in conjunction with the electromagnetic brake for self-locking.

[0022] Please see Figure 1 , Figure 3 , Figure 4 , Figure 5In this embodiment, the clamping assembly includes two symmetrically arranged clamping plates 8. Anti-slip rubber pads are provided on the clamping surfaces of the clamping plates 8. The lower ends of the two clamping plates 8 are respectively connected to both sides of the lifting platform 2 via an adjusting assembly. The adjusting assembly is used to change the position of the two clamping plates 8 respectively, forming a clamping limit on the turnover box. Positioning blocks are fixedly installed on both sides of the lower end of the clamping plates 8. Guide grooves corresponding to the positioning blocks are opened on the surface of the lifting platform 2. The positioning blocks and guide grooves are slidably connected. The adjusting assembly includes an installation cavity 801 opened inside the lifting platform 2 and a mounting cavity 801 installed on the lifting platform 2. The cavity 801 contains a threaded rod 802, a movable block 803 threaded onto the threaded rod 802, a groove 804 formed on the surface of the lifting platform 2, and a slider 805 slidably mounted in the groove 804. A rotary motor 806 is fixedly mounted on the inner wall of the cavity 801. The output end of the rotary motor 806 is connected to one end of the threaded rod 802, and the other end of the threaded rod 802 is rotatably connected to the inner wall of the cavity 801. The lower end of the slider 805 is fixedly connected to the movable block 803, and the upper end of the slider 805 is fixedly connected to the lower end of the clamping plate 8.

[0023] It should be noted that the two rotary motors 806 work together to form a synchronous centering clamping mechanism. The two clamping plates 8 always move symmetrically with the center line of the lifting platform 2 as the reference, ensuring that the center of the turnover box automatically coincides with the center of the lifting platform 2 after it is clamped. This ensures the coaxiality of the turnover box with the outer protective cover 5 after it rises. The rotary motor 806 has a built-in torque sensor, and the control unit can monitor the clamping force in real time. When the clamping force reaches the preset threshold, the motor will automatically stop, thus achieving constant force clamping.

[0024] Please see Figure 1 , Figure 2 , Figure 6 , Figure 7 and Figure 8 In this embodiment, the material handling assembly includes a material handling port 9 and a connecting seat 10 fixedly installed on the outer wall of the material handling port 9. The upper end of the material handling port 9 is sealed and connected to a flexible hose and a negative pressure suction pipe 6. The opening of the material handling port 9 faces the turnover box. The connecting seat 10 is movably connected to the inner wall of the outer cover 5 through a driving component. The driving component consists of four electric push rods 11 arranged in a ring array. The fixed end of each electric push rod 11 is rotatably connected to the inner wall of the outer cover 5 through an upper universal joint, and the telescopic end of each electric push rod 11 is rotatably connected to the outer wall of the connecting seat 10 through a lower universal joint. By controlling the synchronous or differential telescopic extension and retraction of the four electric push rods 11, the material handling port 9 is driven to perform lifting and lowering adjustment and multi-angle deflection in the unloading chamber.

[0025] It should be noted that the four electric push rods 11, together with the upper and lower universal joints, constitute a four-degree-of-freedom parallel drive platform. Compared with the traditional three-axis Cartesian coordinate robot, it has better load-bearing capacity. When the four electric push rods 11 extend or shorten synchronously and equally, the picking port 9 maintains a horizontal posture and moves vertically to achieve dynamic following and picking. When the four electric push rods 11 extend or shorten according to a specific differential ratio, the picking port 9 can deflect around the x-axis and y-axis by a maximum of ±25°, and can finely adjust its height along the z-axis in the deflected state, thereby covering the four corners and side wall areas of the turnover box. The flexible hose is made of food-grade PU corrugated pipe with steel wire lining, which has both flexibility and resistance to negative pressure collapse. Its length is reserved to ensure that the hose does not bend or stretch excessively within the full range of motion of the picking port 9.

[0026] In this embodiment, a dispersing component is provided on the side of the lower end of the connecting seat 10. The dispersing component includes four engaging grooves 12 formed on the side of the lower end face of the connecting seat 10, and a toothed plate 13 installed in one of the engaging grooves 12. An engaging block 131 is provided on the upper end of the toothed plate 13. The engaging block 131 and the engaging groove 12 are slidably connected, and a locking bolt is threaded on the surface of the engaging block 131. The locking bolt abuts against the inner wall of the engaging groove 12 to fix the position of the toothed plate 13. The lower end of the toothed plate 13 has silicone teeth distributed at equal intervals. When the driving component drives the feeding port 9 to move in a biased direction, the movement of the silicone teeth loosens the material.

[0027] It should be noted that the dispersing component adopts a modular structure. The four locking grooves 12 are evenly distributed at 90° on the lower side of the connecting seat 10. One or more toothed plates 13 can be flexibly installed according to the size of the turnover box and the characteristics of the material. Different toothed plates with different tooth pitch, tooth length or hardness can also be replaced to adapt to freeze-dried foods of different shapes such as strawberry pieces, corn kernels, and durian chunks. The silicone teeth are made of food-grade liquid silicone with a Shore hardness of 30a. The tooth tips are rounded. When sliding against the box wall, they can effectively scrape off the adhering material without scratching the inner wall of the turnover box or generating debris. The locking block 131 and the locking groove 12 are fitted with a dovetail groove and tightened with locking bolts.

[0028] Example 2 The present invention also provides a transfer and unloading process for freeze-dried food, which uses the above-mentioned transfer and unloading device and includes the following steps: S1. Loading and positioning stage: The turnover box containing freeze-dried food is transported to the lifting platform 2. The control unit starts the rotary motor 806 to drive the two clamping plates 8 to move synchronously towards the center until the torque sensor feedback that the clamping force reaches the preset value, thus completing the adaptive centering clamping. The weighing sensor 21 records the initial gross weight w0 and checks whether the turnover box is placed upright according to the weight distribution at four points. If the deviation exceeds the limit, an alarm prompts repositioning.

[0029] S2, Sealing and Environment Establishment Stage: Servo motor 404 drives double-headed lead screw 401 to rotate, and lifts the lifting platform 2 smoothly through scissor mechanism, so that the upper port of the turnover box accurately enters the outer protective cover 5 to form isolation protection.

[0030] S3, Dynamic Follow-up Unloading Stage: The vibration motor 7 starts at the basic frequency (e.g., 50Hz) to loosen and fluidize the surface material. The control unit commands the four electric push rods 11 to extend synchronously, driving the material inlet 9 to descend to a preset distance h (e.g., 40mm) from the material surface. The main suction is then activated to pick up the material. As the material decreases, the weighing sensor 21 provides real-time feedback on the weight decay rate. Based on this, the control unit dynamically adjusts the extension of the electric push rods 11 to ensure that the material inlet 9 always maintains a constant distance h from the material surface, thus maintaining the optimal suction speed and efficiency.

[0031] S4, Corner cleaning and bottom loosening stage: When the weighing sensor 21 detects that the remaining amount of material is lower than the set threshold (such as 5% of the net weight), the control unit automatically switches to the corner cleaning mode; the four electric push rods 11 move in sequence according to the preset differential sequence, driving the material inlet 9 to deflect towards the four corners and the bottom center of the turnover box respectively, and the silicone teeth of the dispersion component slide against the box wall with the deflection action, scraping off the adhered and compacted material.

[0032] S5. Reset and unloading stage: When the weighing sensor 21 detects that the weight is stable within the tare tolerance range for more than 3 seconds, it is determined that the unloading is completed; the control unit sequentially shuts off the negative pressure source, stops the vibration motor 7, retracts the electric push rod 11 to raise the material outlet 9 to a safe high position, lowers the lifting platform 2 to the initial position, and releases the clamping plate 8, and the turnover box is moved out, completing a complete work cycle.

[0033] It should be noted that in step S3, the control unit calculates the material consumption rate based on the weight change rate. When the consumption rate is lower than the preset value, it determines that the material has bridging or piling up, automatically triggers a short-term high-frequency vibration mode, and recalibrates the height position of the nozzle head after the vibration ends.

[0034] It should be noted that the control method of the present invention is controlled by a controller. The control circuit of the controller can be implemented by those skilled in the art through simple programming. The power supply is also common knowledge in the art. Furthermore, the present invention is mainly used to protect mechanical devices, so the control method and circuit connection will not be explained in detail.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A transfer and unloading device for freeze-dried food, comprising a housing (1), a lifting platform (2) disposed inside the housing (1), and an unloading module disposed above the lifting platform (2), characterized in that: The lower end of the lifting platform (2) is connected to the lifting frame (4) via a gas spring (3). A lifting assembly is provided between the lifting frame (4) and the bottom of the box (1). The lifting assembly is used to drive the lifting frame (4) and the lifting platform (2) to move in the vertical direction. A clamping assembly for positioning the turnover box is provided on the lifting platform (2). A vibration motor (7) is provided at the lower end of the lifting platform (2). The vibration motor (7) is used to drive the lifting platform (2) and the turnover box to vibrate synchronously. The unloading module includes a fixed outer cover (5), a negative pressure suction pipe (6), and a material taking component set inside the outer cover (5). One end of the negative pressure suction pipe (6) is connected to an external negative pressure source, and the other end of the negative pressure suction pipe (6) is connected to the material taking component. When the lifting component drives the lifting platform (2) to rise to the preset work position, the upper port of the turnover box extends into the outer cover (5) to form an unloading chamber. The material taking component is used to perform negative pressure suction on the freeze-dried food in the unloading chamber and transport it to the back-end packaging line through the negative pressure suction pipe (6).

2. The transfer and unloading device for freeze-dried food according to claim 1, characterized in that: The lifting platform (2) is equipped with a weighing sensor (21) embedded inside. The weighing sensor (21) is used to detect the weight change of the turnover box in real time. The box body (1) is equipped with a control unit. The control unit is electrically connected to the weighing sensor (21), the lifting component, the vibration motor (7) and the material picking component respectively. It is used to adjust the posture of the material picking component and the operating parameters of the vibration motor (7) according to the weight feedback data.

3. A transfer and unloading device for freeze-dried food according to claim 2, characterized in that: The lifting assembly includes a double-ended lead screw (401) rotatably mounted on the bottom of the inner side of the housing (1), a movable seat (402) threaded onto both ends of the double-ended lead screw (401), a hinge plate (403) hinged onto the movable seat (402), and a servo motor (404) fixedly mounted on the outer wall of the housing (1). The output end of the servo motor (404) is connected to one end of the double-ended lead screw (401) to drive the double-ended lead screw (401) to rotate. When the double-ended lead screw (401) rotates, it synchronously drives the two movable seats (402) to move closer to each other or further apart.

4. A transfer and unloading device for freeze-dried food according to claim 3, characterized in that: The threads at both ends of the double-ended lead screw (401) are opposite and have the same pitch. The upper ends of the two hinge plates (403) are rotatably connected to the two sides of the lower end of the lifting frame (4). When the moving seat (402) drives the lower end of the hinge plate (403) to move, the two hinge plates (403) open and close synchronously and drive the lifting frame (4) to move in the vertical direction.

5. A transfer and unloading device for freeze-dried food according to claim 4, characterized in that: The clamping assembly includes two symmetrically arranged clamping plates (8). Anti-slip rubber pads are provided on the clamping surfaces of the clamping plates (8). The lower ends of the two clamping plates (8) are connected to the two sides of the lifting platform (2) through the adjustment assembly. The adjustment assembly is used to change the position of the two clamping plates (8) respectively to form a clamping limit on the turnover box. Positioning blocks are fixedly installed on both sides of the lower end of the clamping plates (8). The surface of the lifting platform (2) is provided with guide grooves corresponding to the positioning blocks. The positioning blocks and guide grooves are slidably connected.

6. A transfer and unloading device for freeze-dried food according to claim 5, characterized in that: The adjustment assembly includes an installation cavity (801) inside the lifting platform (2), a threaded rod (802) installed in the installation cavity (801), a moving block (803) threaded on the threaded rod (802), a slide groove (804) on the surface of the lifting platform (2), and a slider (805) slidably installed in the slide groove (804). A rotary motor (806) is fixedly installed on the inner wall of the installation cavity (801). The output end of the rotary motor (806) is connected to one end of the threaded rod (802), and the other end of the threaded rod (802) is rotatably connected to the inner wall of the installation cavity (801). The lower end of the slider (805) is fixedly connected to the moving block (803), and the upper end of the slider (805) is fixedly connected to the lower end of the clamping plate (8).

7. A transfer and unloading device for freeze-dried food according to claim 6, characterized in that: The material handling assembly includes a material handling port (9) and a connecting seat (10) fixedly installed on the outer wall of the material handling port (9). The upper end of the material handling port (9) is sealed and connected through a flexible hose and a negative pressure suction pipe (6). The opening of the material handling port (9) faces the turnover box. The connecting seat (10) is movably connected to the inner wall of the outer cover (5) through a drive component.

8. A transfer and unloading device for freeze-dried food according to claim 7, characterized in that: The driving component consists of four electric push rods (11) arranged in a ring array. The fixed end of each electric push rod (11) is rotatably connected to the inner wall of the outer cover (5) through the upper universal joint, and the telescopic end of each electric push rod (11) is rotatably connected to the outer wall of the connecting seat (10) through the lower universal joint. By controlling the synchronous or differential extension and retraction of four electric push rods (11), the material inlet (9) is driven to adjust its height and deflect at multiple angles within the unloading chamber.

9. A transfer and unloading device for freeze-dried food according to claim 8, characterized in that: A dispersing component is provided on the side of the lower end of the connecting seat (10). The dispersing component includes four engaging slots (12) opened on the side of the lower end face of the connecting seat (10) and a toothed plate (13) installed in one of the engaging slots (12). A engaging block (131) is provided on the upper end of the toothed plate (13). The engaging block (131) and the engaging slot (12) are slidably connected. A locking bolt is threaded on the surface of the engaging block (131). The locking bolt abuts against the inner wall of the engaging slot (12) to fix the position of the toothed plate (13). The lower end of the toothed plate (13) is a silicone tooth with equal spacing. When the driving component drives the feeding port (9) to move in a biased direction, the movement of the silicone tooth loosens the material.

10. A transfer and unloading process for freeze-dried food, employing the transfer and unloading device as described in claim 10, characterized in that: Includes the following steps: S1. Loading and positioning: Place the turnover box containing freeze-dried food on the lifting platform (2), start the clamping assembly to clamp and position the turnover box, and record the initial weight W0 through the weighing sensor (21). S2, Sealing and Environment Setup: Start the lifting assembly to drive the lifting platform (2) to rise, so that the upper port of the turnover box extends into the outer cover (5) to form the unloading chamber; S3, Dynamic Follow-up Unloading: Start the vibration motor (7) to loosen the surface of the material, control the four electric push rods (11) to extend synchronously, drive the feeding port (9) to descend to a preset distance H from the material surface to start suction. As the material decreases, the control unit dynamically adjusts the extension of the electric push rods (11) according to the real-time weight data of the weighing sensor (21) to keep the relative distance between the feeding port (9) and the material surface constant. S4, Bottom Loosening: When the remaining material is detected to be lower than the set threshold, control the four electric push rods (11) to perform differential extension and retraction, drive the feeding port (9) to deviate towards the bottom of the turnover box, use the dispersing component to loosen the compacted material at the bottom of the turnover box, and at the same time increase the frequency of the vibration motor (7) to assist the fluidization and suction of the bottom material. S5. Reset and discharge: When the weighing sensor (21) detects that the weight is stable within the tare weight range, the vibration motor (7) is turned off, and the electric push rod (11) is controlled to retract and lift the material pick-up port (9). The lifting platform (2) is lowered and reset, and the clamping assembly is released to remove the empty box.

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