Automatic tray extraction and lifting positioning device

Abstract

The utility model relates to food processing technical field, and disclose a tray automatic extraction and lifting positioning device, and tray lifting mechanism is used for lifting the tray with food to extract work station, and tray lifting mechanism includes gear and rack sliding table lifting module and is used for detecting whether the two groups of photoelectric sensor of tray has lifted to extract work station, tray extraction mechanism is used for extracting the tray with food on extract work station and shifts to next snatch package work station, and tray extraction mechanism includes chuck assembly, pull -out assembly, conveying assembly and vertical servo linear module, the utility model discloses through tray lifting mechanism realizes tray accurate lifting positioning, and combines tray extraction mechanism to complete tray automatic extraction shift, can improve tray transfer efficiency and stability in food production, reduce manual intervention, avoid tray inclination, article spilling, guarantee product quality and production line continuous operation.

Description

Technical Field

[0001] This utility model belongs to the field of food processing technology, specifically relating to an automatic tray extraction and lifting positioning device. Background Technology

[0002] In the large-scale production process of foods such as steamed buns and mantou, cooked food needs to be transferred from the tray to the next handling station to facilitate subsequent processes such as palletizing and packaging. The lifting and removal of the tray is a core step connecting the steaming and handling stages. Currently, most companies in the industry still rely on traditional manual methods for tray transfer: after the food is steamed, a steaming cart is manually pushed to a designated area, and then multiple layers of trays are manually unloaded from the cart and transferred to the handling station. This process not only requires a large amount of manpower, but manual handling is also prone to causing trays to tilt and spill due to improper operation. Furthermore, manual judgment of the tray handling height and the docking position at the handling station is prone to deviation, seriously affecting the production line's operational efficiency and product quality stability.

[0003] To address the shortcomings of manual operation, some companies have attempted to introduce simple mechanical devices to assist in pallet transfer. For example, they have adopted cylinder-driven lifting platforms to replace manual lifting of steaming carts, or used fixed tracks for simple sliding pallet transport. However, the existing simple devices have extremely low functional integration, only capable of performing single, partial actions such as pallet lifting or transport, and cannot achieve a continuous operation of "pallet lifting – position detection – automatic extraction – precise transport." For instance, some lifting devices lack pallet positioning detection, requiring manual confirmation that the pallet has reached the designated height before initiating subsequent operations; some extraction devices can only grasp pallets of specific sizes and cannot flexibly adjust the position of the conveying components according to the height of the grasping station, resulting in the need for manual assistance in transferring the pallet to the grasping station after extraction, failing to fundamentally reduce human intervention.

[0004] In view of this, we propose an automatic pallet extraction and lifting positioning device to solve the above problems. Utility Model Content

[0005] The present invention aims to solve the problems of existing technologies that rely heavily on manual labor or simple automated devices. Manual operation requires manually moving the steaming cart and removing the trays, which is inefficient and easily affects quality due to fatigue or improper operation. Simple devices have limited functions and cannot achieve full-process linkage of tray lifting, removal, and conveying. At the same time, they lack precise positioning and flexible adjustment capabilities, and tray docking is prone to deviation, making it difficult to adapt to the technical problems of high efficiency and standardization requirements of large-scale production.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] An automatic pallet extraction and lifting positioning device includes:

[0008] The pallet lifting mechanism is used to lift the pallet carrying food to the extraction station. The pallet lifting mechanism includes a gear and rack slide lifting module for lifting the pallet and two sets of photoelectric sensors located on both sides of the extraction station for detecting whether the pallet has been raised or lowered to the extraction station.

[0009] The pallet extraction mechanism, located to the left of the pallet lifting mechanism, is used to extract the pallet carrying food from the extraction station and transfer it to the next grabbing station. The pallet extraction mechanism includes a clamping assembly that clamps and fixes one end of the pallet, a pulling assembly that pulls the pallet out of the steaming cart, a conveying assembly that transports the pulled-out pallet, and a vertical servo linear module that pushes the conveying assembly to the receiving station to receive the pallet clamped from the steaming cart.

[0010] Preferably, the gear and rack slide lifting module is fixed on the vertical plate, and two sets of photoelectric sensors are symmetrically fixed on the vertical plate.

[0011] Preferably, the pallet lifting mechanism also includes a lifting platform, which is fixedly installed on the lifting slide of the gear and rack slide module. The lifting platform is used to support the bottom plate of the steaming cart. Limiting plates are provided on the front and rear sides of the lifting platform, which are locked on the outer sides of the front and rear ends of the bottom plate of the steaming cart to limit the swaying of the steaming cart during the lifting process.

[0012] Preferably, the clamping plate assembly includes a mounting plate and two clamping fixtures fixed at the front and rear ends of the mounting plate. The clamping fixtures include a lower clamping plate that clamps a support base and is fixed to the top of the mounting plate, a clamping cylinder that is fixedly installed in the support base and passes through the support base and the mounting plate, a connecting rod that is rotatably connected to the piston rod end of the clamping cylinder and rotatably connected to the upper clamp, and a support block that is fixed to the support base and rotatably connected to the end of the upper clamp. The upper surface of the lower clamping plate abuts against the bottom surface of the pallet. A limiting block that limits the pallet to the outer side of the pallet is fixedly provided on the lower clamping plate. The upper clamp is provided with a pressure head that presses against the inner wall surface of the pallet. The pressure head is provided with an inclined surface that abuts against the inner wall surface of the pallet.

[0013] The piston rod of the clamping cylinder rises upward, causing the upper clamp to lift away from the tray. The piston rod of the clamping cylinder retracts downward, causing the upper clamp to cooperate with the lower clamp to clamp the tray.

[0014] Preferably, the pull-out assembly includes a horizontal linear slide module and a lifting cylinder fixed on the horizontal slide of the horizontal linear slide module, wherein the end of the piston rod of the lifting cylinder is fixedly connected to the bottom of the mounting plate.

[0015] The transverse linear slide module moves the transverse slide, lifting cylinder, mounting plate, and clamping fixture laterally, thereby pulling out the pallet.

[0016] Preferably, the conveying assembly includes two sets of belt module conveyors fixedly installed on two U-shaped frames, and a transverse linear slide module fixed on the inner bottom wall of the two U-shaped frames. The two sets of belt module conveyors are used to receive and support the pallets that are pulled out by the transmission.

[0017] Preferably, after the pull-out assembly pulls the pallet out and places it on the belt module conveyor, the transverse linear slide module moves, and the piston rod of the clamping cylinder lifts upward, causing the upper clamp to lift away from the pallet. Then, the lifting cylinder drives the mounting plate and clamping fixture to descend, located below the pallet on the belt module conveyor, without affecting the pallet's transport.

[0018] The horizontal linear slide module moves to return the clamping plate assembly to the initial position and repeats the pulling of the next set of pallets.

[0019] Preferably, two U-shaped frames are fixed on the lifting platform of the vertical servo linear module. The movement of the vertical servo linear module drives the lifting platform to move up and down, thereby driving the two sets of belt conveyor modules to rise and fall, which can be adjusted between the receiving station and the non-receiving station.

[0020] Compared with the prior art, the technical effects and advantages of this utility model are:

[0021] This invention automates the entire pallet transfer process. Compared to the traditional method of manually handling pallets and transferring workstations, it eliminates the need for manual intervention in the process of lifting the pallet from the steaming cart to the packing workstation, thus avoiding problems such as pallet tilting and spillage that may occur during manual operation and effectively ensuring food quality.

[0022] The pallet lifting mechanism uses a gear and rack slide lifting module to drive the pallet to rise and fall stably. With the help of two sets of symmetrical photoelectric sensors, the pallet position is accurately detected, ensuring that the pallet can accurately reach the extraction station. The design of the lifting platform and the front and rear limit plates can also limit the shaking of the steaming cart, making the pallet lifting process more stable and solving the problems of inaccurate pallet lifting and positioning and poor stability in the existing technology.

[0023] The components of the pallet extraction mechanism work together seamlessly. The clamping assembly firmly holds the pallet, the pulling assembly smoothly removes the pallet from the steaming cart, the conveying assembly stably transports the pallet, and the vertical servo linear module can flexibly adjust the height of the conveying assembly to adapt to different workstations. Compared with simple automated devices that can only operate in one way, this significantly improves the efficiency of pallet extraction and conveying.

[0024] This utility model features a compact overall structure, an lifting platform that can adapt to steam carts of different specifications, and a clamping plate assembly that can stably clamp the tray. The components are highly versatile and adaptable. Compared with existing devices that have a narrow range of adaptability, this invention can better meet the needs of different production scenarios and provides strong support for continuous operation of the production line. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is the front view of the present invention;

[0027] Figure 3 This is the left view of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of the clamping plate assembly of this utility model;

[0029] Figure 5 This is a structural schematic diagram of the pull-out assembly and the conveying assembly of this utility model.

[0030] In the picture:

[0031] 100. Pallet lifting mechanism; 11. Gear and rack slide lifting module; 12. Photoelectric sensor; 13. Vertical plate; 14. Lifting platform; 15. Limit plate;

[0032] 200. Pallet extraction mechanism; 21. Clamping plate assembly; 22. Pull-out assembly; 23. Conveying assembly; 24. Mounting plate; 25. Clamping fixture; 26. Support base; 27. Lower clamping plate; 28. Clamping cylinder; 29. ​​Upper chuck; 210. Connecting rod; 211. Support block; 212. Limiting block; 213. Pressure head; 214. Inclined surface; 215. Transverse linear slide module; 216. Transverse slide; 217. Lifting cylinder; 218. U-shaped frame; 219. Belt module conveyor; 220. Vertical servo linear module;

[0033] 300. Pallet. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] The following combination Figures 1 to 5 This application will be described in further detail.

[0036] This application discloses an automatic pallet extraction and lifting positioning device, which includes a pallet lifting mechanism 100 and a pallet extraction mechanism 200. The pallet lifting mechanism 100 is used to lift a pallet 300 carrying food to the extraction station. The pallet extraction mechanism 200 is located to the left of the pallet lifting mechanism 100 and is used to extract the pallet 300 carrying food from the extraction station and transfer it to the next grabbing station.

[0037] The integrated design of pallet lifting and extraction / transfer enables automated connection of the food-carrying pallet 300 from the steaming cart to the next packaging station. Compared to the traditional method of manually handling pallets and transferring them between stations, this eliminates the need for manual intervention in the pallet transfer process. This not only avoids problems such as pallet tilting and items falling that may occur during manual operation, ensuring food quality, but also significantly shortens the time the pallet spends from steaming to packaging, improving production line efficiency and laying the foundation for the continuous operation of subsequent packaging processes.

[0038] The pallet lifting mechanism 100 includes a gear and rack slide lifting module 11 for lifting the pallet 300 and two sets of photoelectric sensors 12 located on both sides of the extraction station for detecting whether the pallet 300 has been raised or lowered to the extraction station; the gear and rack slide lifting module 11 is fixed on the vertical plate 13, and the two sets of photoelectric sensors 12 are symmetrically fixed on the vertical plate 13.

[0039] The gear and rack slide lifting module 11 features high transmission precision and strong load-bearing capacity, which can stably drive the pallet 300 to achieve vertical lifting and lowering, avoiding jamming or tilting during the lifting process, ensuring that the pallet 300 always remains in a horizontal state, and preventing the items inside the pallet from shifting or tipping over; moreover, the module is fixed on the vertical plate 13, which has strong installation stability and is not prone to structural loosening after long-term use, ensuring the consistency and reliability of lifting and lowering actions.

[0040] Two sets of symmetrical photoelectric sensors 12 are mounted symmetrically on the vertical plate 13. They can detect the lifting position of the pallet 300 from both sides simultaneously. Compared with detection by a single sensor, it can more accurately determine whether the pallet 300 has reached the extraction station, avoid the positioning inaccuracy caused by the detection error of one side of the sensor, and ensure that the subsequent pallet extraction mechanism 200 can accurately dock with the pallet 300, reducing the gripping deviation.

[0041] The pallet lifting mechanism 100 also includes a lifting platform 14, which is fixedly installed on the lifting slide of the gear and rack slide lifting module 11. The lifting platform 14 is used to support the bottom plate of the steaming cart. The front and rear sides of the lifting platform 14 are respectively provided with limiting plates 15 that are locked on the outer sides of the front and rear ends of the bottom plate of the steaming cart to limit the swaying of the steaming cart during the lifting process.

[0042] The lifting platform 14 directly supports the bottom plate of the steaming cart, increasing the contact area between the steaming cart and the device, making the force on the steaming cart more even during lifting and lowering, avoiding deformation of the steaming cart due to excessive local force, and at the same time, it can adapt to the bottom plate size of different specifications of steaming carts, improving the versatility of the device.

[0043] The front and rear limiting plates 15 are secured to the outer sides of the front and rear ends of the steam cart's base plate, forming a two-way limiting structure that effectively restricts the steam cart's forward and backward swaying during lifting. Especially when the steam cart is loaded with multiple pallets 300, it can prevent the pallets 300 from colliding and items from spilling due to the steam cart's swaying, ensuring the stability and safety of the steam cart during lifting.

[0044] The pallet extraction mechanism 200 includes a clamping assembly 21 that clamps and fixes one end of the pallet 300, a pulling assembly 22 that pulls the pallet 300 off the steaming cart, a conveying assembly 23 that transports the pulled-out pallet 300, and a vertical servo linear module 220 that pushes the conveying assembly 23 to be raised and lowered to the receiving station to receive the pallet 300 clamped from the steaming cart.

[0045] The pallet extraction mechanism 200 consists of four main components: the clamping assembly 21, the pulling assembly 22, the conveying assembly 23, and the vertical servo linear module 220. These components form a complete extraction process involving clamping, pulling, conveying, and lifting adjustment. The components work together to achieve fully automated transfer of the pallet 300 from the steaming cart to the bag-grabbing station. The clamping assembly 21 ensures that the pallet 300 does not loosen when pulled out, the pulling assembly 22 provides a stable pulling force, the conveying assembly 23 enables the smooth transfer of the pallet 300, and the vertical servo linear module 220 adjusts the height of the conveying assembly 23 to ensure that the conveying assembly 23 can accurately align with the extraction height of the pallet 300 (receiving station) and the height of the bag-grabbing station (non-receiving station), adapting to the height requirements of different processes and avoiding conveying jams caused by height deviations during the transfer of the pallet 300.

[0046] The clamping assembly 21 includes a mounting plate 24 and two clamping fixtures 25 fixed at the front and rear ends of the mounting plate 24. Each clamping fixture 25 includes a lower clamping plate 27 that clamps a support base 26 and is fixed to the top of the mounting plate 24; a clamping cylinder 28 that is fixedly installed inside the support base 26 and passes through the support base 26 and the mounting plate 24; a connecting rod 210 that is rotatably connected to the piston rod end of the clamping cylinder 28 and rotatably connected to the upper clamp 29; and a support block 211 that is fixed to the support base 26 and rotatably connected to the end of the upper clamp 29. The upper surface of the lower clamping plate 27 abuts against the bottom surface of the pallet 300. A limiting block 212 that is fixed on the lower clamping plate 27 and limits the pallet 300 to the outer periphery of the pallet 300 is provided on the lower clamping plate 27. The upper clamp 29 is provided with a pressing head 213 that presses against the inner wall surface of the pallet 300. The pressing head 213 is provided with an inclined surface 214 that abuts against the inner periphery of the pallet 300.

[0047] The piston rod of the clamping cylinder 28 rises upward, causing the upper chuck 29 to lift away from the tray 300. The piston rod of the clamping cylinder 28 retracts downward, causing the upper chuck 29 to cooperate with the lower clamping plate 27 to clamp the tray 300.

[0048] The mounting plate 24 is equipped with a clamping fixture 25 at each end, which clamps the pallet 300 from both the front and rear sides simultaneously. Compared with clamping from one side, it can distribute the clamping force more evenly, prevent the pallet 300 from deforming due to force on one side, and improve the stability of the pallet 300 when it is pulled out, thus avoiding the pallet 300 from tilting.

[0049] The lower clamping plate 27 supports the bottom surface of the pallet 300, providing bottom support for the pallet 300; the limiting block 212 is locked on the outer side of the pallet 300, which can limit the left and right and front and back displacement of the pallet 300, prevent the pallet 300 from shifting laterally during clamping or pulling, and ensure that the position of the pallet 300 is fixed.

[0050] The upper clamp 29 presses against the inner wall surface of the pallet 300 through the pressure head 213, forming an upper and lower clamping structure with the lower clamping plate 27 to further fix the pallet 300; the inclined surface 214 on the pressure head 213 can closely fit the inner wall of the pallet 300, increasing the contact area between the pressure head 213 and the pallet 300, improving clamping stability, and at the same time avoiding scratches on the inner wall of the pallet 300 caused by the pressure head 213.

[0051] The clamping cylinder 28 drives the connecting rod 210 through the extension and retraction of the piston rod, thereby controlling the opening and closing of the upper chuck 29. The transmission structure is simple and responsive, and can quickly achieve the clamping and releasing of the tray 300. The support block 211 provides a rotation fulcrum for the upper chuck 29, ensuring that the opening and closing action of the upper chuck 29 is accurate, avoiding the upper chuck 29 from shaking due to the lack of a fulcrum, and improving the stability of the clamping action.

[0052] The pull-out assembly 22 includes a horizontal linear slide module 215 and a lifting cylinder 217 fixed on the horizontal slide 216 of the horizontal linear slide module 215. The piston rod end of the lifting cylinder 217 is fixedly connected to the bottom of the mounting plate 24.

[0053] The transverse linear slide module 215 drives the transverse slide 216, lifting cylinder 217, mounting plate 24 and clamping fixture 25 to move laterally, thereby pulling out the pallet 300.

[0054] The horizontal linear slide module 215 drives the horizontal slide 216, the lifting cylinder 217, and the clamping plate assembly 21 to move laterally as a whole. The transmission precision is high, which can accurately control the pulling distance and speed of the pallet 300 and avoid collisions caused by excessive speed or distance deviation when the pallet 300 is pulled out. At the same time, the slide module runs smoothly, reducing the vibration of the pallet 300 during the pulling process and preventing items from spilling.

[0055] The lifting cylinder 217 connects the transverse slide 216 and the mounting plate 24, and can adjust the height of the clamping assembly 21 to ensure that the clamping assembly 21 can accurately align with pallets 300 of different heights (such as pallets 300 of different layers in a steaming cart), thereby improving the adaptability of the device to different pallet heights. At the same time, after the pallet 300 is placed on the conveying assembly 23, the lifting cylinder 217 can drive the clamping assembly 21 to descend, so as to avoid the clamping assembly 21 interfering with the conveying of the pallet 300.

[0056] The conveying assembly 23 includes two sets of belt module conveyors 219 respectively fixedly installed on two U-shaped frames 218, and a transverse linear slide module 215 fixed on the inner bottom wall of the two U-shaped frames 218. The two sets of belt module conveyors 219 are used to receive and support the pallet 300 that is pulled out by transmission.

[0057] The dual-belt modular conveyor 219 is installed on two U-shaped frames 218 respectively, supporting and driving the pallet 300 from both sides of the bottom. Compared with single-belt conveyor, it can distribute the weight of the pallet 300 more evenly and avoid the pallet 300 from tilting due to support on one side. At the same time, the belt drive has low friction and runs smoothly, which can reduce the vibration of the pallet 300 during transport and ensure food quality.

[0058] The U-shaped frame 218 provides stable support for the belt module conveyor 219, while fixing the transverse linear slide module 215 to the inner bottom wall of the U-shaped frame 218, realizing the integrated installation of the pull-out component 22 and the conveying component 23, reducing the overall space occupied by the device, making the structure more compact, and facilitating the layout of the production line.

[0059] After the pull-out assembly 22 pulls out the pallet 300 and places it on the belt module conveyor 219, the transverse linear slide module 215 moves, and the piston rod of the clamping cylinder 28 lifts upward, causing the upper chuck 29 to rise away from the pallet 300. Then, the lifting cylinder 217 drives the mounting plate 24 and the clamping fixture 25 to descend, located below the pallet 300 on the belt module conveyor 219, without affecting the conveying of the pallet 300.

[0060] The horizontal linear slide module 215 moves to drive the clamping plate assembly 21 back to the initial position to repeatedly pull out the next set of pallets 300.

[0061] After the pallet 300 is placed on the belt conveyor module 219, the clamping cylinder 28 lifts the upper clamp 29 away from the pallet 300, releasing the clamping state; then the lifting cylinder 217 drives the clamping plate assembly 21 to descend below the pallet 300, avoiding contact between the clamping plate assembly 21 and the pallet 300, preventing the clamping plate assembly 21 from interfering with the conveying of the pallet 300, and ensuring that the pallet 300 can smoothly enter the next grabbing station.

[0062] The horizontal linear slide module 215 resets and drives the clamping plate assembly 21 back to the initial position, which can immediately start the extraction of the next set of pallets 300. There is no need to manually adjust the position of the clamping plate assembly 21, realizing continuous pallet extraction, greatly improving extraction efficiency, and adapting to the continuous operation needs of large-scale production.

[0063] Two U-shaped frames 218 are fixed on the lifting platform of the vertical servo linear module 220. The vertical servo linear module 220 moves the lifting platform up and down, which in turn drives the two sets of belt conveyor modules 219 to rise and fall, and can be adjusted between the receiving station and the non-receiving station.

[0064] The vertical servo linear module 220 drives the U-shaped frame 218 and the belt module conveyor 219 to rise and fall. The servo motor has high control precision and can accurately drive the lifting platform to move up and down, thereby adjusting the height of the belt module conveyor 219. This ensures that the belt module conveyor 219 can accurately align with the extraction height of the pallet 300 when it is at the receiving station (to receive the pallet 300 extracted from the steaming cart), and can accurately align with the height of the grabbing station when it is not at the receiving station (to facilitate the grabbing mechanism to grab the food in the pallet 300), avoiding pallet 300 conveying jams or grabbing deviations due to height deviations.

[0065] The device can quickly switch between receiving and non-receiving stations with simple motor control, without the need for manual adjustment of the height of the conveyor component 23. This improves the efficiency of station switching, adapts to the rhythm changes of different processes on the production line, and enhances the flexibility and adaptability of the device.

[0066] The process flow of the automatic pallet extraction and lifting positioning device is as follows:

[0067] S1. Placement and Lifting Positioning of Steaming Cart: The steaming cart carrying the tray 300 (containing food) is placed on the lifting platform 14. The bottom plate of the steaming cart is supported by the platform, and the front and rear limit plates 15 clamp the bottom plate of the steaming cart to limit swaying. The gear rack slide lifting module 11 (fixed to the vertical plate 13) drives the steaming cart and the tray 300 to rise vertically. When the two sets of symmetrically installed photoelectric sensors 12 detect that the tray 300 has reached the extraction position, the lifting action stops.

[0068] S2. Height adjustment of conveyor assembly 23 and pallet clamping: The vertical servo linear module 220 drives the lifting platform with the U-shaped frame 218 fixed to move, so that the two sets of belt module conveyors 219 on the U-shaped frame 218 are raised to the receiving station; the piston rod of the clamping cylinder 28 of the clamping assembly 21 retracts, and drives the upper clamp 29 to press down through the connecting rod 210, which cooperates with the lower clamping plate 27 to clamp the pallet 300 (the lower clamping plate 27 supports the bottom surface of the pallet 300, the limiting block 212 restricts the lateral displacement of the pallet 300, and the inclined surface 214 of the pressure head 213 fits against the inner wall of the pallet 300 to enhance the clamping stability).

[0069] S3. Pallet Pulling and Conveying Preparation: The transverse linear slide module 215 of the pulling assembly 22 moves, driving the transverse slide 216, lifting cylinder 217, mounting plate 24 and clamping plate assembly 21 to move laterally, pulling the pallet 300 from the steaming cart onto the belt module conveyor 219; then the piston rod of the clamping cylinder 28 is lifted, the upper clamp 29 is lifted away from the pallet 300 to release the clamp, and the lifting cylinder 217 drives the mounting plate 24 and clamping plate assembly 21 to descend below the pallet 300 to avoid interfering with the conveying.

[0070] S4. Clamping Plate Reset and Pallet Conveying: The horizontal linear slide module 215 drives the clamping plate assembly 21 back to the initial position, ready to pick up the next set of pallets 300; the vertical servo linear module 220 adjusts the belt module conveyor 219 to the non-pallet receiving position, the belt module conveyor 219 starts, and smoothly conveys the pallet 300 to the next grabbing position, completing a single pallet transfer process.

[0071] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A tray automatic extraction and lift positioning device, characterized by, include: The pallet lifting mechanism (100) is used to lift the pallet (300) carrying food to the extraction station. The pallet lifting mechanism (100) includes a gear and rack slide lifting module (11) for lifting the pallet (300) and two sets of photoelectric sensors (12) located on both sides of the extraction station for detecting whether the pallet (300) has been lifted to the extraction station. The tray extraction mechanism (200) is located to the left of the tray lifting mechanism (100) and is used to extract the tray (300) carrying food from the extraction station and transfer it to the next grabbing station. The tray extraction mechanism (200) includes a clamping assembly (21) that clamps and fixes one end of the tray (300), a pulling assembly (22) that pulls the tray (300) off the steaming cart, a conveying assembly (23) that conveys the pulled-out tray (300), and a vertical servo linear module (220) that pushes the conveying assembly (23) to lift and adjust it to the receiving station to receive the tray (300) clamped from the steaming cart.

2. The automatic tray extraction and lifting positioning device according to claim 1, characterized in that: The gear and rack slide lifting module (11) is fixed on the vertical plate (13), and two sets of photoelectric sensors (12) are fixedly installed on the vertical plate (13) in a symmetrical manner.

3. The automatic tray extraction and lift positioning device of claim 1, wherein: The pallet lifting mechanism (100) also includes a lifting platform (14), which is fixedly installed on the lifting slide of the gear and rack slide lifting module (11). The lifting platform (14) is used to support the bottom plate of the steaming cart. The front and rear sides of the lifting platform (14) are respectively provided with limiting plates (15) that are locked on the outer sides of the front and rear ends of the bottom plate of the steaming cart to limit the swaying of the steaming cart during the lifting process.

4. The automatic tray extraction and lift positioning device of claim 1, wherein: The clamping assembly (21) includes a mounting plate (24) and two clamping fixtures (25) fixed at the front and rear ends of the mounting plate (24). The clamping fixtures (25) include a lower clamping plate (27) that clamps a support base (26) and is fixed to the top of the mounting plate (24), a clamping cylinder (28) that is fixedly installed in the support base (26) and passes through the support base (26) and the mounting plate (24), and a connecting rod (210) that is rotatably connected to the piston rod end of the clamping cylinder (28) and rotatably connected to the upper clamp (29). A support block (211) is fixed on the support base (26) and rotatably connected to the end of the upper clamp (29). The upper surface of the lower clamp (27) abuts against the bottom surface of the tray (300). A limiting block (212) is fixed on the lower clamp (27) and is limited to the outer side of the tray (300). A pressure head (213) is provided on the upper clamp (29) and is pressed against the inner wall surface of the tray (300). An inclined surface (214) is provided on the pressure head (213) and is pressed against the inner wall surface of the tray (300). The piston rod of the clamping cylinder (28) rises upward, causing the upper clamp (29) to lift away from the tray (300). The piston rod of the clamping cylinder (28) retracts downward, causing the upper clamp (29) to cooperate with the lower clamping plate (27) to clamp the tray (300).

5. The tray automatic extraction and lifting positioning device according to claim 4, characterized in that: The pull-out assembly (22) includes a horizontal linear slide module (215) and a lifting cylinder (217) fixedly mounted on the horizontal slide (216) of the horizontal linear slide module (215). The piston rod end of the lifting cylinder (217) is fixedly connected to the bottom of the mounting plate (24). The transverse linear slide module (215) drives the transverse slide (216), lifting cylinder (217), mounting plate (24) and clamping fixture (25) to move laterally, thereby pulling out the pallet (300).

6. The automatic tray extraction and lift positioning device of claim 5, wherein: The conveying assembly (23) includes two sets of belt module conveyors (219) respectively fixedly installed on two U-shaped frames (218), and a transverse linear slide module (215) fixed on the inner bottom wall of the two U-shaped frames (218). The two sets of belt module conveyors (219) are used to receive and support the pallet (300) pulled out by the drive.

7. The tray automatic extraction and lift positioning device according to claim 6, characterized in that: After the pull-out assembly (22) pulls out the pallet (300) and places it on the belt module conveyor (219), the transverse linear slide module (215) moves, and the piston rod of the clamping cylinder (28) is lifted upward, causing the upper chuck (29) to lift away from the pallet (300). Then the lifting cylinder (217) drives the mounting plate (24) and the clamping fixture (25) to descend, located below the pallet (300) on the belt module conveyor (219), without affecting the conveying of the pallet (300). The horizontal linear slide module (215) moves to drive the clamping plate assembly (21) back to the initial position to repeatedly pull out the next set of pallets (300).

8. The automatic tray extraction and lift positioning device of claim 7, wherein: Two U-shaped frames (218) are fixed on the lifting platform of the vertical servo linear module (220). The vertical servo linear module (220) moves up and down, thereby driving the two sets of belt module conveyors (219) to rise and fall, which can be adjusted between the receiving station and the non-receiving station.

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