Material tray conveying device and tray loading and unloading machine

Abstract

This application relates to a tray conveying device and a tray loading / unloading machine. The tray conveying device is used for loading and unloading trays and includes a moving mechanism and a conveying fixture. The conveying fixture includes a frame, a support member, a first driving member, and a picking member. The frame is connected to the moving mechanism, which drives the conveying fixture to move; the support member is disposed on the frame; the first driving member is disposed on the frame; the picking member is used to pick up or release trays and is connected to the first driving member, which drives the picking member to move along a first direction between a first position and a second position. The picking member includes a picking part for picking up or releasing trays; when the picking member is in the first position, the picking part protrudes from one end of the frame along the first direction; when the picking member is in the second position, at least a portion of the support member is supported on the bottom side of the tray picked up by the picking member. This can improve the tray loading or unloading efficiency.

Description

Technical Field

[0001] This application relates to the field of material tray technology, and in particular to material tray conveying devices and tray loading and unloading machines. Background Technology

[0002] In related technologies, manual loading and unloading of materials into trays is typically performed. However, manual loading and unloading is inefficient and wastes manpower. Utility Model Content

[0003] Therefore, it is necessary to provide a material tray conveying device and a tray loading and unloading machine to address the above technical problems. This device can automate the loading or unloading of material trays, replacing the heavy manual labor and improving the loading or unloading efficiency of material trays.

[0004] According to a first aspect of this application, a tray conveying device is provided for loading and unloading trays. The tray conveying device includes a moving mechanism and a conveying fixture. The conveying fixture includes a frame, a support member, a first driving member, and a picking member. The frame is connected to the moving mechanism, which drives the conveying fixture to move. The support member is disposed on the frame. The first driving member is disposed on the frame. The picking member is used to pick up or release the tray and is connected to the first driving member. The first driving member drives the picking member to move along a first direction between a first position and a second position. The picking member includes a picking portion for picking up or releasing the tray. When the picking member is in the first position, the picking portion protrudes from one end of the frame along the first direction. When the picking member is in the second position, at least a portion of the support member is supported on the bottom side of the tray picked up by the picking member. The first direction is parallel to the bottom wall of the frame.

[0005] In one embodiment, the transport fixture further includes a first positioning mechanism; the first positioning mechanism includes a second driving member and a holding member. The second driving member is disposed on the frame; the holding member is connected to the second driving member; wherein the second driving member is used to drive the holding member to move along a second direction, so that when the pickup is in the second position, the holding member is driven to press the tray on the support member along the second direction; the second direction is perpendicular to the bottom wall of the frame.

[0006] In one embodiment, the first positioning mechanism further includes a first guide corresponding to the holding member; the first guide is connected to the output end of the second drive member and the corresponding holding member, and the first guide is slidably connected to the frame along the second direction.

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

[0008] In one embodiment, the second positioning mechanism further includes at least two second guide members corresponding to the two limiting members; the second guide members are respectively connected to the third driving member and the corresponding limiting member, and the second guide members are slidably connected to the frame along the third direction.

[0009] In one embodiment, the transport fixture further includes a first control module disposed on the frame and a first detector disposed on the pickup, the first detector being used to sense a third position of the tray in the first direction; the first control module is electrically connected to the moving mechanism and the first detector respectively, and is used to control the moving mechanism to drive the pickup of the transport fixture to move along the first direction to the third position; and / or, the transport fixture further includes a first control module disposed on the frame and a second detector disposed on the pickup, the second detector being used to sense a fourth position of the tray in a second direction; the first control module is electrically connected to the moving mechanism and the second detector respectively, and is used to control the moving mechanism to drive the pickup of the transport fixture to move along the second direction to the fourth position; the second direction is perpendicular to the bottom wall of the frame.

[0010] According to a second aspect of this application, a tray loading and unloading machine is provided, including a loading device, an unloading device, and a placement rack. Both the loading device and the unloading device include the tray transport device of any of the above embodiments. The placement rack is located between the loading device and the unloading device along the first direction and is used to carry at least one of the trays.

[0011] In one embodiment, the loading and unloading machine further includes a tray conveying mechanism and a meat grinder.

[0012] The tray conveying mechanism is located along the first direction on the side of the loading device away from the placement frame; the tray conveying mechanism has loading stations, empty tray stations, and full tray stations located at different positions; the loading device is used to place the empty tray at the empty tray station; the tray conveying mechanism is used to move the tray located at the empty tray station to the loading station, and to move the loaded tray located at the loading station to the full tray station. The meat grinder has an outlet facing the loading station, and the meat grinder loads the tray located at the loading station by means of the outlet; the loading device is used to move the tray located at the full tray station to the placement frame.

[0013] In one embodiment, the loading and unloading tray machine further includes a scraping mechanism, which includes a receiving hopper, a first scraping drive, a scraping component, and a second scraping drive. The receiving hopper has a receiving cavity with one open end, which is used to receive material from the tray on the transport fixture of the unloading device. The first scraping drive is connected to the scraping component to drive the scraping component to rotate around a preset axis. The second scraping drive is disposed on the receiving hopper and is connected to the first scraping drive to drive the first scraping drive and the scraping component to move along a target direction. The preset axis is perpendicular to the target direction and parallel to the plane where the opening of the receiving cavity is located.

[0014] In one embodiment, the first scraping drive has a high-pressure state and a low-pressure state; the scraping mechanism further includes a second control module, the second control module being used to control the first scraping drive to drive the scraping element to rotate around the preset axis before the high-pressure state, and to control the first scraping drive to drive the scraping element to rotate around the preset axis again before the low-pressure state; and / or, the scraping element includes a scraper, the scraper including a first plate body portion and two second plate body portions connected to opposite sides of the first plate body portion along a direction parallel to the preset axis, the hardness of the second plate body portions being less than the hardness of the first plate body portion.

[0015] In the technical solution of this application, the first driving member drives the picking member to move along the first direction, so that the picking member moves to the first position along the first direction. At this time, the picking part of the picking member protrudes out of the frame along the first direction, which is beneficial for the picking part of the picking member to pick up the tray. After the picking member completes the picking of the tray, the first driving member can drive the picking member to move from the first position to the second position along the first direction, so that the tray moves to the top of the support member on the frame along the first direction. The support member can be used to support the tray, improving the stability of the tray on the transport fixture, thereby improving the working stability of the tray transport device in subsequent processes. If it is necessary to unload the tray from the transport fixture, the first driving member can drive the picking member to move from the second position to the first position along the first direction. In this way, the tray can protrude out of the frame along the first direction, making it convenient to unload the tray from the transport fixture to the required location. Thus, by utilizing the material tray conveying device of this application, automated material tray loading or unloading can be achieved, replacing the heavy manual labor and improving the material tray loading or unloading efficiency. Attached Figure Description

[0016] Figure 1 A schematic diagram of the loading and unloading machine according to an embodiment of this application is shown from one perspective.

[0017] Figure 2 A schematic diagram of the process of a transport fixture picking up a tray in one embodiment of this application is shown (the picking component is in the first position).

[0018] Figure 3 A schematic diagram of the structure of the transport fixture after picking up the tray is shown in one embodiment of this application (the picking component is in the second position).

[0019] Figure 4 A partial schematic diagram of a transport fixture according to an embodiment of this application is shown from a first-view perspective.

[0020] Figure 5 A partial schematic diagram of a transport fixture according to an embodiment of this application is shown from a second perspective.

[0021] Figure 6 It shows Figure 1 An enlarged schematic diagram of point A.

[0022] Figure 7 A schematic diagram of the material tray conveying mechanism and meat grinder in one embodiment of this application is shown.

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

[0024] Figure 9 A partial structural schematic diagram of the scraping mechanism in one embodiment of this application is shown.

[0025] Figure 10 A schematic diagram of the scraper component in one embodiment of this application is shown.

[0026] Figure 11 A schematic diagram of the loading and unloading machine according to one embodiment of this application is shown from another perspective.

[0027] Reference numerals: 10, loading and unloading tray machine; 101, loading device; 102, unloading device; 100, moving mechanism; 200, transport fixture; 211, frame; 212, first guide rail; 213, mounting flange; 214, cable chain; 220, support component; 230, first driving component; 240, pickup component; 241, pickup section; 242, pickup seat; 250, first positioning mechanism; 251, second driving component; 252, holding component; 253, first guide component; 254, first sleeve; 260. 270. First mounting base; 271. Second positioning mechanism; 272. Third driving component; 273. Limiting component; 274. Seat body; 275. Limiting post; 286. Second guide component; 287. Second sleeve; 288. Connecting component; 290. First detector; 289. Second detector; 280. Second mounting base; 300. First control module; 310. Cooking machine; 400. Placement rack; 411. Material tray conveying mechanism; 412. First conveyor belt; 413. First conveyor sub-belt; 424. Second conveyor belt. Belt; 421, Second transport sub-belt; 430, Elevator; 440, Transfer transport belt; 450, Fixed frame; 500, Meat grinder; 501, Outlet; 600, Scraping mechanism; 610, Receiving hopper; 620, First scraping drive; 621, Scraping seat; 630, Scraping component; 631, Scraper; 6311, First plate body; 6312, Second plate body; 632, Swing shaft; 640, Second scraping drive; 641, Scraping drive belt; 642, Clamping component; 650, Second guide rail 661. First arm; 662. Second arm; 663. Hinge seat; 670. Second control module; 680. Mounting frame; 690. Inspection ladder; 700. Weighing mechanism; 710. Material conveying mechanism; 720. Crusher; 730. Metal detector; 740. Material bucket; 750. Weighing platform; 760. Inclined ramp; 770. Cleaning flap; 800. Protective system; 900. Electrical control cabinet; W1. Loading station; W2. Empty tray station; W3. Full tray station; W4. Cleaning station; Q. Protective cavity;

[0028] 20. Tray; K. Pick-up hole; 30. Factory building. Detailed Implementation

[0029] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0030] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0031] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0032] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

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

[0035] Figure 1 A schematic diagram of the loading and unloading machine according to one embodiment of this application is shown. Figure 2 A schematic diagram of the process of a transport fixture picking up a tray in one embodiment of this application is shown (the picking component is in the first position). Figure 3 A schematic diagram of the structure of the transport fixture after picking up the tray is shown in one embodiment of this application (the picking component is in the second position).

[0036] Please refer to the following: Figure 1 , Figure 2 and Figure 3 One embodiment of this application provides a tray loading and unloading machine 10, including a tray conveying device for loading and unloading trays 20. The tray conveying device includes a moving mechanism 100 and a conveying fixture 200.

[0037] The loading and unloading machine 10 can be installed inside the factory building 30, making it convenient to transport the material trays 20 within the factory building 30.

[0038] The moving mechanism 100 refers to a mechanism capable of moving the transport fixture 200 in a first direction F1, a second direction F2, and a third direction F3. The moving mechanism 100 can also drive the transport fixture 200 to rotate 180 degrees. For example, the moving mechanism 100 is a robot.

[0039] The transport fixture 200 refers to a fixture capable of picking up and transporting the material tray 20.

[0040] The moving mechanism 100 can be connected to the transport fixture 200 along the first direction F1.

[0041] The transport fixture 200 includes a frame 211, a support member 220, a first drive member 230, and a pickup member 240. The frame 211 is connected to a moving mechanism 100, which drives the transport fixture 200 to move. Specifically, the frame 211 and the moving mechanism 100 are connected along a first direction F1.

[0042] A support member 220 is disposed on the frame 211, specifically on the top side of the frame 211, and a first drive member 230 is disposed on the frame 211. A pickup member 240 is used to pick up or release the tray 20, and the pickup member 240 is connected to the first drive member 230. The first drive member 230 is used to drive the pickup member 240 to move along a first direction F1 between a first position and a second position. The pickup member 240 includes a pickup portion 241 for picking up or releasing the tray 20. When the pickup member 240 is in the first position, the pickup portion 241 protrudes from one end of the frame 211 along the first direction F1. When the pickup member 240 is in the second position, at least a portion of the support member 220 is supported on the bottom side of the tray 20 picked up by the pickup member 240. The first direction F1 is parallel to the bottom wall of the frame 211.

[0043] The first driving component 230 refers to the component used to drive the pickup component 240 to move along the first direction F1. The first driving component 230 may be a shaftless cylinder.

[0044] The pickup component 240 can be fitted onto the frame 211 to facilitate movement of the pickup component 240 relative to the frame 211 along the first direction F1. The pickup part 241 can be a hook to facilitate the pickup part 241 of the pickup component 240 to pick up the material tray 20.

[0045] It is understandable that the first position and the second position are set at intervals of F1 along the first direction.

[0046] The first position refers to the position where the pickup 240 can pick up or release the tray 20.

[0047] The second position refers to the position of the pickup 240 when the tray 20 picked up by the pickup 240 is supported on the support 220.

[0048] "At least a portion of the support member 220 is supported on the bottom side of the tray 20 picked up by the pickup member 240" can mean that a portion of the support member 220 is supported on the bottom side of the tray 20 picked up by the pickup member 240; or it can mean that the support member 220 is supported on the bottom side of the tray 20 picked up by the pickup member 240. No specific limitation is made here.

[0049] The first direction F1 can be either forward / backward or left / right. For example, the first direction F1 is left / right.

[0050] The first driving member 230 drives the pickup member 240 to move along the first direction F1, so that the pickup member 240 moves to the first position along the first direction F1. At this time, the pickup part 241 of the pickup member 240 protrudes from the frame 211 along the first direction F1 (e.g., Figure 2 As shown), this facilitates the pickup part 241 of the pickup member 240 to pick up the tray 20; after the pickup member 240 completes the pickup of the tray 20, the first driving member 230 can drive the pickup member 240 to move from the first position to the second position along the first direction F1 (as shown). Figure 3 As shown), the tray 20 moves along the first direction F1 to above the support member 220 on the frame 211, so that the support member 220 can support the tray 20, improve the stability of the tray 20 on the transport fixture 200, and thus improve the working stability of the tray transport device in subsequent processes.

[0051] If it is necessary to unload the tray 20 from the transport fixture 200, the first drive member 230 can be used to drive the pickup member 240 to move from the second position to the first position along the first direction F1. In this way, the tray 20 can be extended out of the frame 211 along the first direction F1, making it convenient to unload the tray 20 from the transport fixture 200 to the required place.

[0052] Thus, by utilizing the material tray conveying device of this application, the automatic feeding or unloading of the material tray 20 can be achieved, replacing the heavy manual work and improving the feeding or unloading efficiency of the material tray.

[0053] In some embodiments, the transport fixture 200 further includes a first positioning mechanism 250, which includes a second driving member 251 and a pressing member 252. The second driving member 251 is disposed on the frame 211, and the pressing member 252 is connected to the second driving member 251. The second driving member 251 drives the pressing member 252 to move along a second direction F2, so that when the pickup 240 is in the second position, the pressing member 252 presses against the tray 20 on the support member 220 along the second direction F2, where the second direction F2 is perpendicular to the bottom wall of the frame 211.

[0054] For example, the second driving component 251 is a cylinder, the holding component 252 is a pressure plate, and the second direction F2 can be the up and down direction.

[0055] When the pickup 240 is in the second position, the second driving member 251 can drive the holding member 252 to move along the second direction F2, thereby enabling the holding member 252 to press the tray 20 on the support member 220 along the second direction F2. This can further improve the stability of the tray 20 during the transport process with the transport fixture 200, reduce the probability of the tray 20 shifting during the transport process with the transport fixture 200, and thus improve the working stability of the tray transport device in subsequent processes.

[0056] In some embodiments, the first positioning mechanism 250 further includes a first guide 253 corresponding to the holding member 252. The first guide 253 is connected to the output end of the second drive member 251 and the corresponding holding member 252, and the first guide 253 is slidably connected to the frame 211 along the second direction F2.

[0057] Specifically, the first positioning mechanism 250 further includes a first sleeve 254, and the transport fixture 200 further includes a first mounting base 260 disposed on the frame 211. The first sleeve 254 is disposed on the first mounting base 260. The output end of the second driving member 251 is connected to the holding member 252 through the first guide member 253. The first guide member 253 passes through the first mounting base 260 and the first sleeve 254 along the second direction F2, and the first guide member 253 is slidably connected to the first sleeve 254 on the first mounting base 260 along the second direction F2. In this way, the holding member 252 can move in a direction along the second direction F2 under the drive of the second driving member 251, which can improve the stability of the displacement of the holding member 252 along the second direction F2.

[0058] For example, four first positioning mechanisms 250 and four first mounting bases 260 are provided. The four first positioning mechanisms 250 and four first mounting bases 260 are symmetrically arranged on opposite sides of the frame 211 along the third direction F3. Two first positioning mechanisms 250 on the same side along the third direction F3 are arranged at intervals along the first direction F1, and the first mounting bases 260 on the same side along the third direction F3 are arranged at intervals along the first direction F1. The stability of the material tray 20 during the transportation process with the transport fixture 200 can be better improved by using four first positioning mechanisms 250.

[0059] In some embodiments, the transport fixture 200 further includes a second positioning mechanism 270, which includes a third driving member 271 and two limiting members 272. The third driving member 271 is disposed on the frame 211, and at least two limiting members 272 are respectively connected to the third driving member 271 and located on opposite sides of the frame 211 along a third direction F3. The third driving member 271 is used to drive the two limiting members 272 to move towards or away from each other along the third direction F3. The first direction F1 and the third direction F3 intersect each other and are both parallel to the bottom wall of the frame 211.

[0060] The third drive member 271 refers to the component used to drive the two limit members 272 to move toward or away from each other along the third direction F3. For example, the third drive member 271 is a pneumatic gripper finger.

[0061] Specifically, the first direction F1 and the third direction F3 are perpendicular to each other. For example, the first direction F1 is the left-right direction, and the third direction F3 is the front-back direction. When the pickup 240 is in the second position, the third driving member 271 can be used to drive the two limiting members 272 to move towards each other along the third direction F3, thereby limiting the tray 20 on the support member 220 to be between at least two limiting members 272 along the third direction F3. This can further improve the stability of the tray 20 during the transport process with the transport fixture 200, reduce the probability of the tray 20 shifting during the transport process with the transport fixture 200, and thus improve the working stability of the tray transport device in subsequent processes.

[0062] If it is necessary to unload the tray 20 from the transport fixture 200, the third drive member 271 can be used to drive the two limiting members 272 to move away from each other along the third direction F3, and the second drive member 251 can be used to drive the holding member 252 to move upward along the second direction F2. Then, the first drive member 230 can be used to drive the picking member 240 to move from the second position to the first position along the first direction F1. In this way, the tray 20 can be extended out of the frame 211 along the first direction F1, which is convenient for unloading the tray 20 from the transport fixture 200 to the required place or for unloading the material in the tray 20.

[0063] The second positioning mechanism 270 also includes at least two second guide members 273 corresponding to the two limiting members 272. The second guide members 273 are respectively connected to the third driving member 271 and the corresponding limiting member 272, and the second guide members 273 are slidably connected to the frame 211 along the third direction F3.

[0064] Specifically, the second positioning mechanism 270 further includes a second sleeve 274 disposed on each first mounting base 260, and at least two connecting members 275 corresponding to the two limiting members 272. The output end of the third driving member 271 is connected to one end of the corresponding second guide member 273 along the third direction F3 via the corresponding connecting member 275. The other end of the second guide member 273 along the third direction F3 is connected to the corresponding limiting member 272. The second guide member 273 passes through the corresponding first mounting base 260 and the corresponding second sleeve 274 along the third direction F3, and the second guide member 273 is slidably connected to the corresponding second sleeve 274 along the third direction F3. In this way, the limiting member 272 can move directionally along the third direction F3 under the drive of the third driving member 271, which can improve the stability of the displacement of the limiting member 272 along the third direction F3.

[0065] Optionally, the limiting member 272 includes a base 2721 and two limiting posts 2722. The end of the second guide member 273, located away from the corresponding connector 275 along the third direction F3, is connected to the base 2721 of the corresponding limiting member 272. The two limiting posts 2722 are arranged on the base 2721 along the first direction F1. In this way, the two limiting posts 2722 can be used to better limit the material tray 20 to one side along the third direction F3, thereby improving the stability of the material tray 20 during the transportation process with the transport fixture 200.

[0066] For example, there are two second positioning mechanisms 270, which are arranged at intervals along the first direction F1. The stability of the material tray 20 during the transportation process with the transport fixture 200 can be better improved by using the two second positioning mechanisms 270.

[0067] In some embodiments, such as Figure 3 As shown, the first mounting base 260 is located on one side of the frame 211 along the third direction F3. The second drive member 251 of the first positioning mechanism 250 is also located on the same side of the frame 211 along the third direction F3. The end of the first guide member 253 away from the second drive member 251 passes through the support member 220 in the second direction F2 and is detachably connected to the pressing member 252. This facilitates the pressing and positioning of the tray 20 on the support member 220 using the pressing member 252 of the first positioning mechanism 250.

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

[0069] In some embodiments, the pickup member 240 includes a pickup base 242 and two pickup parts 241. The two pickup parts 241 are spaced apart on the pickup base 242 along a third direction F3. The tray 20 is provided with two pickup holes K corresponding to the two pickup parts 241. After the pickup member 240 picks up the tray 20, the pickup parts 241 are inserted into the corresponding pickup holes K one by one. The combination of the two pickup parts 241 being spaced apart along a third direction F3 is beneficial for positioning the tray 20 on the pickup member 240 in the third direction F3.

[0070] In some embodiments, the transport fixture 200 further includes a first detector 281 disposed on the pickup 240 and a first control module 290 disposed on the frame 211. The first detector 281 is used to sense the third position of the tray 20 in the first direction F1. The first control module 290 is electrically connected to the moving mechanism 100 and the first detector 281, and the first control module 290 is used to control the moving mechanism 100 to drive the pickup 240 of the transport fixture 200 to move along the first direction F1 to the third position.

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

[0072] During the process of the moving mechanism 100 driving the transport fixture 200 to pick up the tray 20, the first control module 290 can control the moving mechanism 100 to drive the transport fixture 200 to move along the first direction F1 until the first detector 281 senses the third position of the tray 20 in the first direction F1. This allows the first control module 290 to control the moving mechanism 100 to drive the picking component 240 of the transport fixture 200 to move along the first direction F1 to the third position. This allows the transport fixture 200 to pick up the tray 20 more accurately and also allows the transport fixture 200 to better accommodate the positional deviation of the tray 20 in the first direction F1.

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

[0074] Optionally, the second detector 282 is mounted on the pickup 240 via a second mounting base 283, which is detachably connected to the pickup base 242 of the pickup 240.

[0075] During the process of the moving mechanism 100 driving the transport fixture 200 to pick up the tray 20, the first control module 290 can control the moving mechanism 100 to drive the transport fixture 200 to move along the second direction F2 until the second detector 282 senses the fourth position of the tray 20 in the second direction F2. This allows the first control module 290 to control the moving mechanism 100 to drive the picking component 240 of the transport fixture 200 to move along the second direction F2 to the fourth position. This allows the transport fixture 200 to pick up the tray 20 more accurately and also allows the transport fixture 200 to better accommodate the positional deviation of the tray 20 in the second direction F2.

[0076] In some embodiments, such as Figure 4 As shown, the transport fixture 200 also includes a first guide rail 212 disposed on the frame 211, and the pickup 240 is slidably connected to the first guide rail 212 along the first direction F1.

[0077] Thus, during the process of the first driving member 230 driving the pickup member 240 to move along the first direction F1, the first guide rail 212 can be used to make the pickup member 240 move in the first direction F1, thereby improving the stability of the pickup member 240 moving along the first direction F1.

[0078] In some embodiments, such as Figure 5 As shown, the transport fixture 200 also includes a mounting flange 213 detachably connected to the moving mechanism 100. The mounting flange 213 is located at one end of the frame 211 along the first direction F1 and is located on the side of the second position away from the first position along the first direction F1.

[0079] The transport fixture 200 can be connected to one side of the moving mechanism 100 along the first direction F1, which makes it easier for the transport fixture 200 to pick up or release the material tray 20 on the side of the first direction F1 away from the moving mechanism 100; it also makes it easier to assemble and disassemble the transport fixture 200 on the moving mechanism 100, and to replace or install the transport fixture 200.

[0080] In some embodiments, such as Figure 4 As shown, the transport fixture 200 also includes a cable chain 214. The fixed end of the cable chain 214 is connected to the frame 211, and the movable end of the cable chain 214 is connected to the bottom of the pickup 240. The first wire for electrical connection between the first detector 281 on the pickup 240 and the first control module 290 is passed through the cable chain 214. The second wire for electrical connection between the second detector 282 on the pickup 240 and the first control module 290 is also passed through the cable chain 214. This ensures that the first detector 281 and the second detector 282 are electrically connected to the first control module 290 on the frame 211, while the first wire and the second wire will not become entangled during the movement of the pickup 240 along the first direction F1.

[0081] This application also provides a tray loading and unloading machine 10, in conjunction with reference to [reference needed]. Figure 1 and Figure 6 The tray loading and unloading machine 10 includes a loading device 101, an unloading device 102, and a placement rack 310. Both the loading device 101 and the unloading device 102 include the tray transport device of any of the above embodiments. The placement rack 310 is located between the loading device 101 and the unloading device 102 along the first direction F1 and is used to carry at least one tray 20.

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

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

[0084] The moving mechanism 100 of the loading device 101 drives the transport fixture 200 of the loading device 101 to move, so that the transport fixture 200 of the loading device 101 can pick up the empty tray 20 on the placement rack 310. Then, the transport fixture 200 of the loading device 101 drives the tray 20 to move. After loading the tray 20 at the loading station W1, the loading device 101 then drives the full tray 20 to move onto the placement rack 310. The material in the tray 20 can be placed... After the steaming or freezing operation is completed on the rack 310, the moving mechanism 100 of the unloading device 102 on the other side of the rack 310 drives the transport fixture 200 of the unloading device 102 to move, so that the transport fixture 200 of the unloading device 102 can pick up the full tray 20 on the rack 310, so that the transport fixture 200 of the unloading device 102 can move the tray 20 to the unloading station for subsequent unloading operation.

[0085] For example, the loading and unloading machine 10 includes a cooking machine 300 disposed between the loading device 101 and the unloading device 102 along a first direction F1. The placement rack 310 is part of the cooking machine 300 and is disposed in the cooking chamber of the cooking machine 300 so that the cooking machine 300 can be used to cook the material in the material tray 20.

[0086] The placement rack 310 has multiple placement cavities spaced apart along the second direction F2. Each placement cavity has an opening communicating with the material trays 20 on each opposite side along the first direction F1. Thus, the loading device 101 on one side can place multiple material trays 20 one by one on the placement rack 310 through adjacent openings, and the unloading device 102 on the other side can pick up multiple material trays 20 one by one from the placement rack 310 for subsequent unloading.

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

[0088] The meat grinder 500 has an outlet 501 facing the loading station W1, through which the meat grinder 500 loads material into the tray 20 located at the loading station W1.

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

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

[0091] The first conveyor belt 410 can be continuously arranged along the first direction F1. The first conveyor belt 410 can also include two first conveyor sub-belts 411 arranged at intervals along the first direction F1. The first conveyor sub-belts 411 are installed on the fixed frame 450 by corresponding belt mounting brackets.

[0092] The second conveyor belt 420 can be continuously arranged along the first direction F1. The second conveyor belt 420 may also include two second conveyor sub-belts 421 arranged at intervals along the first direction F1. The second conveyor sub-belts 421 are installed on the fixed frame 450 by corresponding belt mounting brackets.

[0093] The lift 430 can be a structure similar to an elevator, or other structure that can drive the transfer conveyor belt 440 to switch between a first height and a second height along the second direction F2.

[0094] Since the second height is greater than the first height, it can be understood that the first conveyor belt 410 is located on the bottom side of the second conveyor belt 420. Therefore, the empty pallet station W2 is located on the bottom side of the full pallet station W3.

[0095] First, the elevator 430 drives the transfer conveyor belt 440 to switch from the second height to the first height along the second direction F2, so that the transfer conveyor belt 440 is located on the side of the first conveyor belt 410 away from the loading device 101. Then, the moving mechanism 100 of the loading device 101 drives the transport fixture 200 of the loading device 101 to move the tray 20 to the empty tray station W2 of the tray conveying mechanism 400. The first conveyor belt 410 of the tray conveying mechanism 400 can transport the tray 20 from the empty tray station W2 toward the transfer conveyor belt 440 (at this time, the conveying direction of the transfer conveyor belt 440 is the same as the conveying direction of the first conveyor belt 410). After the tray 20 is transported to the transfer conveyor belt 440, the elevator 430 drives the transfer conveyor belt 440 to switch from the first height to the second height along the second direction F2, so that the transfer conveyor belt 440 is located on the side of the second conveyor belt 420 away from the loading device 101 along the first direction F1. Then, the transfer conveyor belt 440 is moved to the first height. The conveying direction of the transfer conveyor belt 440 is reversed, so that the conveying direction of the transfer conveyor belt 440 is opposite to the conveying direction of the first conveyor belt 410 and the same as the conveying direction of the second conveyor belt 420. This allows the material tray 20 from the empty tray station W2 to be conveyed to the second conveyor belt 420. The second conveyor belt 420 can then convey the material tray 20 toward the loading station W1. After the material tray 20 is conveyed to the loading station W1, the material in the meat grinder 500 can be put into the material tray 20 through the outlet 501. Even when the material tray conveying mechanism 400 is stopped or running at a slow speed, the material can be spread evenly in the material tray 20. Then, the second conveyor belt 420 of the material tray conveying mechanism 400 moves the full material tray 20 to the full tray station W3. The carrying fixture 200 of the loading device 101 can pick up the material tray 20 from the full tray station W3. Then, the loading device 101 moves the material tray 20 to the placement rack 310 for subsequent operations.

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

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

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

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

[0100] Optionally, the first scraping drive 620 is a scraping cylinder, and the piston rod of the scraping cylinder is connected to the scraping component 630 to drive the scraping component 630 to rotate around a preset axis. The first scraping drive 620 has a high-pressure state and a low-pressure state. The scraping mechanism 600 also includes a second control module 670, which controls the first scraping drive 620 to drive the scraping component 630 to rotate around the preset axis first in the high-pressure state, and also controls the first scraping drive 620 to drive the scraping component 630 to rotate around the preset axis again in the low-pressure state. The second control module 670 is electrically connected to the second scraping drive 640, and also controls the second scraping drive 640 to drive the first scraping drive 620 to move along the target direction.

[0101] When the first scraper drive 620 is under high pressure, the first scraper drive 620 contains gas with a first pressure, and the scraper 630 rotates around a preset axis under the drive of the gas with the first pressure; when the first scraper drive 620 is under low pressure, the first scraper drive 620 contains gas with a second pressure, and the scraper 630 rotates around a preset axis under the drive of the gas with the second pressure; the first pressure is greater than the second pressure.

[0102] The loading and unloading machine 10 also includes a first airbag, a second airbag, a first solenoid valve, and a second solenoid valve. The first airbag contains gas at a first pressure, and the second airbag contains gas at a second pressure. The first and second airbags are respectively connected to the first scraper drive 620. The first solenoid valve is located on the pipeline connecting the first airbag and the first scraper drive 620, and the second solenoid valve is located on the pipeline connecting the second airbag and the first scraper drive 620. The second control module 670 is electrically connected to the first and second solenoid valves respectively to control the first and second solenoid valves to be in an open state sequentially, and to control one of the first and second solenoid valves to be in an open state. In this way, the first scraper drive 620 can be in a high-pressure state first and then in a low-pressure state.

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

[0104] It should be noted that the stroke of the first scraper drive 620 remains unchanged under both high and low pressure conditions. Correspondingly, the rotational speed of the scraper 630 also remains unchanged under both high and low pressure conditions.

[0105] When the first scraper drive 620 is under high pressure, the force applied by the first scraper drive 620 to the scraper 630 is relatively large, and the scraper 630 is in a relatively hard state. Under the drive of the first scraper drive 620, the flipped scraper 630 can scrape out thicker materials. When the first scraper drive 620 is under low pressure, the force applied by the first scraper drive 620 to the scraper 630 is relatively small, and the scraper 630 is in a relatively soft state. Under the drive of the first scraper drive 620, the flipped scraper 630 can better contact the inner wall of the material tray 20 to more thoroughly scrape out the material in the material tray 20.

[0106] Thus, the second control module 670 controls the first scraper drive 620 to drive the scraper 630 to rotate around the preset axis under high pressure, and controls the first scraper drive 620 to drive the scraper 630 to rotate around the preset axis under low pressure, which helps to scrape the material in the material tray 20 more thoroughly.

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

[0108] The clamping member 642 includes two clamping plates and bolts. The two clamping plates are detachably connected by the bolts, and the scraper drive belt 641 can be clamped between the two clamping plates of the clamping member 642.

[0109] The scraping mechanism 600 also includes a second guide rail 650 disposed on the receiving hopper 610. The first scraping drive member 620 is slidably connected to the second guide rail 650 along the target direction, so that the second scraping drive member 640 can drive the first scraping drive member 620 and the scraping member 630 to move in the target direction, thereby improving the stability of the scraping member 630 moving in the target direction.

[0110] Two first scraper drive units 620, two second scraper drive units 640, and two second guide rails 650 are respectively provided. The two first scraper drive units 620, two second scraper drive units 640, and two second guide rails 650 are respectively located on opposite sides of the receiving hopper 610 along a direction parallel to a preset axis. The scraper unit 630 includes a scraper 631 and a swing shaft 632. The scraper 631 is rotatably mounted on the conveying end of the first scraper drive unit 620 via the swing shaft 632 around a preset axis. The conveying end of the drive unit 620 is connected to one end of the first arm 661, and the other end of the first arm 661 is hinged to one end of the second arm 662. The other end of the second arm 662 is rotatably connected to one end of the swing shaft 632 on the hinge seat 663 around a preset axis. In this way, as the output end of the first scraping drive unit 620 extends or retracts into the cylinder of the first scraping drive unit 620, it can drive the scraper 631 to swing repeatedly, thereby enabling the scraping mechanism 600 to scrape the material onto the material tray 20.

[0111] It is understandable that the preset axis is parallel to the longitudinal extension direction of the swing axis 632.

[0112] Each end of the swing shaft 632 is provided with a first arm 661, a second arm 662, and a hinge seat 663, so that the two ends of the swing shaft 632 can be rotatably mounted on the two hinge seats 663 around a preset axis. Combined with the fact that there are two first scraper drive members 620, the stability of the scraper member 630 rotation can be improved. In addition, there are two second scraper drive members 640 and two second guide rails 650, which can also improve the stability of the scraper member 630 moving along the target direction.

[0113] Optionally, such as Figure 10 As shown, the scraper 631 includes a first plate portion 6311 and two second plate portions 6312 connected to opposite sides of the first plate portion 6311 along a direction parallel to a preset axis. The hardness of the second plate portions 6312 is less than that of the first plate portion 6311. Specifically, the thickness of the second plate portions 6312 is less than one-tenth of the thickness of the first plate portion 6311. Thus, compared to the first plate portion 6311, the second plate portions 6312 are more easily deformed, which makes the two sides of the scraper 631 along the direction parallel to the preset axis softer. This facilitates the scraper 631 to make more close contact with the inner wall of the material tray 20, so as to more thoroughly scrape the material from the material tray 20 using the scraper 631.

[0114] The scraping mechanism 600 also includes a mounting frame 680 and an inspection ladder 690 located on one side of the mounting frame 680. The receiving hopper 610 is mounted on the mounting frame 680. The material condition in the receiving chamber of the receiving hopper 610 can be viewed by climbing the inspection ladder 690. It also facilitates the inspection and maintenance of the first scraping drive component 620, the scraping component 630 and the second scraping drive component 640 on the receiving hopper 610.

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

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

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

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

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

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

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

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

[0123] The loading and unloading machine 10 also includes an electrical control cabinet 900, which is electrically connected to the first control module 290 and the second control module 670 respectively. The first control module 290 and the second control module 670 are both controlled by the electrical control cabinet 900. The electrical control cabinet 900 is located outside the protection system 800, which facilitates the electrical control cabinet 900 to control the first control module 290 and the second control module 670 respectively.

[0124] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0125] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A material tray conveying device, characterized in that, The pallet conveying device is used for loading and unloading pallets, and the pallet conveying device includes: Mobile mechanism; and Transport fixture; the transport fixture includes: A frame is connected to the moving mechanism, which is used to drive the transport fixture to move. Support members are provided on the frame; A first driving component is disposed on the frame; and A pickup component is used to pick up or release the tray and is connected to the first drive component, which is used to drive the pickup component to move along a first direction between a first position and a second position. The picking component includes a picking part for picking up or releasing the tray; When the pickup is in the first position, the pickup part protrudes from one end of the frame along the first direction; When the pickup is in the second position, at least a portion of the support is supported on the bottom side of the tray picked up by the pickup; The first direction is parallel to the bottom wall of the frame.

2. The material tray conveying device according to claim 1, characterized in that, The transport fixture further includes a first positioning mechanism; the first positioning mechanism includes: The second driving component is mounted on the frame; and The holding member is connected to the second driving member; The second driving member is used to drive the pressing member to move along the second direction, so that when the picking member is in the second position, the pressing member is driven to press the tray on the support member along the second direction; The second direction is perpendicular to the bottom wall of the frame.

3. The material tray conveying device according to claim 2, characterized in that, The first positioning mechanism further includes a first guide member corresponding to the pressing member; The first guide member is connected to the output end of the second drive member and the corresponding holding member, and the first guide member is slidably connected to the frame along the second direction.

4. The material tray conveying device according to claim 1, characterized in that, The transport fixture further includes a second positioning mechanism; the second positioning mechanism includes: A third driving component is mounted on the frame; and Two limiting members are respectively connected to the third driving member and are located on opposite sides of the frame along the third direction; the third driving member is used to drive the two limiting members to move towards or away from each other along the third direction. The first direction and the third direction intersect each other and are both parallel to the bottom wall of the frame.

5. The material tray conveying device according to claim 4, characterized in that, The second positioning mechanism further includes at least two second guide members corresponding to the two limiting members; The second guide member is connected to the third drive member and the corresponding limiting member respectively, and the second guide member is slidably connected to the frame along the third direction.

6. The material tray conveying device according to any one of claims 1-5, characterized in that, The transport fixture further includes a first control module mounted on the frame and a first detector mounted on the pickup component. The first detector is used to sense a third position of the tray in the first direction. The first control module is electrically connected to the moving mechanism and the first detector, respectively, and is used to control the moving mechanism to drive the pickup component of the transport fixture to move along the first direction to the third position; and / or The transport fixture further includes a first control module disposed on the frame and a second detector disposed on the pickup, the second detector being used to sense the fourth position of the tray in a second direction; the first control module is electrically connected to the moving mechanism and the second detector respectively, and is used to control the moving mechanism to drive the pickup of the transport fixture to move along the second direction to the fourth position; the second direction is perpendicular to the bottom wall of the frame.

7. A loading and unloading tray machine, characterized in that, include: The loading device and the unloading device, both comprising the tray conveying device according to any one of claims 1-6: A placement rack is located between the loading device and the unloading device along the first direction and is used to carry at least one of the material trays.

8. The loading and unloading machine according to claim 7, characterized in that, The loading and unloading machine also includes: A tray conveying mechanism is located along the first direction on the side of the loading device away from the placement frame; the tray conveying mechanism has loading stations, empty tray stations, and full tray stations located at different positions; the loading device is used to place the empty tray at the empty tray station; the tray conveying mechanism is used to move the tray located at the empty tray station to the loading station, and is also used to move the loaded tray located at the loading station to the full tray station; and A meat grinder having an outlet facing the loading station, the meat grinder loading meat into the tray located at the loading station via the outlet: The loading device is used to move the tray located at the full tray station to the placement rack.

9. The loading and unloading machine according to claim 7, characterized in that, The loading and unloading machine further includes a scraping mechanism, which comprises: A receiving hopper having a receiving cavity open at one end, the receiving cavity being used to receive material from the material tray on the transport fixture of the unloading device; and A first scraping drive, a scraping component, and a second scraping drive, wherein the first scraping drive is connected to the scraping component to drive the scraping component to rotate around a preset axis; The second scraping drive is disposed on the receiving hopper and is connected to the first scraping drive to drive the first scraping drive and the scraping component to move along the target direction. The preset axis is perpendicular to the target direction and parallel to the plane where the opening of the receiving cavity is located.

10. The loading and unloading machine according to claim 9, characterized in that, The first scraping drive has a high-pressure state and a low-pressure state; the scraping mechanism further includes a second control module, which is used to control the first scraping drive to drive the scraping component to rotate around the preset axis in the high-pressure state, and to control the first scraping drive to drive the scraping component to rotate around the preset axis in the low-pressure state. and / or The scraping component includes a scraper, which includes a first plate portion and two second plate portions connected to opposite sides of the first plate portion along a direction parallel to the preset axis. The hardness of the second plate portions is less than that of the first plate portion.

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