CN112499227B

CN112499227B - Working method applied to unfreezing warehouse material loading and unloading device

Info

Publication number: CN112499227B
Application number: CN202011117795.6A
Authority: CN
Inventors: 汪舒生; 肖锋; 胡海强; 夏东劼; 杨丽萍; 李宏奇
Original assignee: China Building Materials Intelligent Automation Research Institute Co ltd
Current assignee: China Building Materials Intelligent Automation Research Institute Co ltd
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2022-05-27
Anticipated expiration: 2040-10-19
Also published as: CN112499227A

Abstract

The invention belongs to the technical field of article unfreezing, and particularly relates to a working method of a loading and unloading device applied to an unfreezing warehouse. Aiming at the problem that the working mode of the material loading and unloading process of the thawing warehouse in the prior art is single, which greatly limits the improvement of the production efficiency, the invention provides the working method of the material loading and unloading device applied to the thawing warehouse, which comprises a loading mode only for loading work, an unloading mode only for unloading work, a mixed mode for simultaneously loading work and unloading work and other modes for goods which do not need to be thawed. The invention has a plurality of working modes such as a charging mode, a discharging mode, a mixing mode and other modes for selection, and can select the working modes according to the requirements of actual conditions, thereby greatly improving the production efficiency.

Description

Working method applied to unfreezing warehouse material loading and unloading device

Technical Field

The invention belongs to the technical field of article unfreezing, and particularly relates to a working method of a loading and unloading device applied to an unfreezing warehouse.

Background

At present, most of domestic food industries, in particular to enterprises needing to unfreeze frozen meat raw materials, have defects in the material loading and unloading process on a unfreezing production line. In the prior art, the working mode of the material loading and unloading process of the unfreezing warehouse is single, so that the improvement of the production efficiency is greatly limited.

For example, the chinese invention patent application discloses a concrete transporting apparatus, a charging system, a discharging system, and an automatic charging and discharging method [ application No.: 201210065254.2] the application includes a target device locating system for determining the location and type of a target device, the target device being a concrete mixing device or a concrete delivery pump; the charging control system is used for sending a charging control signal to the concrete mixing equipment when the concrete conveying equipment reaches the charging position of the concrete mixing equipment so as to control the concrete mixing equipment to charge the concrete conveying equipment; and the discharging control system is used for controlling the concrete transportation equipment to discharge to the concrete delivery pump when the concrete transportation equipment reaches the discharging position of the concrete delivery pump.

The invention has the advantages that in the process of loading and unloading concrete, the concrete transportation equipment can automatically load/unload the concrete after reaching the target position, so that the number of constructors is reduced, and the operation efficiency is improved.

Disclosure of Invention

The invention aims to solve the problems and provides an operating method which has multiple operating modes and is applied to a material loading and unloading device of a thawing warehouse.

The working method of the loading and unloading device applied to the thawing warehouse comprises a loading mode for only loading work, an unloading mode for only unloading work, a mixed mode for simultaneously loading work and unloading work and other modes for goods which do not need to be thawed.

In the above working method applied to the loading and unloading device of the thawing warehouse, the loading mode comprises the following working steps:

the method comprises the following steps: after the transport trolley moves to the designated position, measuring the distance between the transport trolley and the distance measuring sensor, and feeding the measurement result back to the control system;

step two: the control system controls the robot to take out an empty thawing box from the transport trolley, the thawing box is placed on the conveying device and conveyed to a manual box taking position through the conveying device, and frozen article raw materials are fully filled after the thawing box is manually taken down;

step three: manually placing the thawing boxes filled with the raw materials of the frozen articles on a weighing roller conveyor for weighing, and feeding back and recording weighing results to a control system;

step four: after the weighing result is recorded, the weighing roller conveyor and the conveying device convey the thawing boxes filled with the frozen raw material to the designated position grabbed by the robot;

step five: the robot grabs the thawing boxes filled with the raw materials of the frozen articles and then puts the thawing boxes into the transport trolleys, and when one transport trolley is filled with the frozen articles, the robot moves and changes the next transport trolley until the loading is finished.

In the above working method applied to the loading and unloading device of the thawing warehouse, the unloading mode comprises the following working steps:

the method comprises the following steps: after the unfreezing is finished, the transport trolley is moved to a specified position, the distance between the transport trolley and the transport trolley is measured by using a distance measuring sensor, and the measurement result is fed back to the control system;

step two: the control system controls the robot to take out the unfreezing box in the transport trolley and pour the unfrozen raw material of the article into the blanching machine;

step three: the robot puts the unfreezing box with the raw material of the article poured into the basket washing machine, and the unfreezing box comes out from the other end of the basket washing machine after being cleaned and enters the reciprocating lifter;

step four: the control system controls the compound hoister to convey the unfreezing boxes to the conveying device, and the unfreezing boxes are conveyed to the empty box grabbing positions designated by the robot through the conveying device;

step five: the robot grabs and places the empty thawing box in the transport trolley, and when the thawing box filled with the material raw materials is taken out and the washed thawing box is placed in the transport trolley, the transport trolley moves to change the next transport trolley until the unloading is finished.

In the above working method applied to the loading and unloading device of the thawing warehouse, the mixing mode includes the following working steps:

step four: the control system controls the compound elevator to convey the thawing boxes to the conveying device, and frozen raw material articles are fully filled after the thawing boxes are manually taken down;

step five: manually placing the thawing boxes filled with the raw materials of the frozen articles on a weighing roller conveyor for weighing, and feeding back and recording weighing results to a control system;

step six: after the weighing result is recorded, the weighing roller conveyor and the conveying device convey the thawing boxes filled with the frozen raw material to the designated position grabbed by the robot;

step seven: the robot grabs the thawing boxes filled with the raw materials of the frozen articles and then puts the thawing boxes into the transport trolleys, and when one transport trolley is full, the robot moves and changes the next transport trolley;

step eight: and (5) unfreezing the filled transport trolley, and repeating the step one of the mixing mode after unfreezing.

In the above working method applied to the loading and unloading device of the thawing warehouse, the other modes include the following working steps:

the method comprises the following steps: placing the raw materials of the articles in a thawing box, manually placing the thawing box filled with the raw materials of the frozen articles on a weighing roller conveyor for weighing, and feeding back and recording the weighing result to a control system;

step two: after the weighing result is recorded, the weighing roller conveyor and the conveying device convey the thawing boxes filled with the frozen raw material to the designated position grabbed by the robot;

step three: the control system controls the robot to take out the unfreezing box in the transport trolley and pour the unfrozen raw material of the article into the blanching machine;

step four: the robot puts the unfreezing box with the raw material of the article poured into the basket washing machine, and the unfreezing box comes out from the other end of the basket washing machine after being cleaned and enters the reciprocating lifter;

step five: and the control system controls the compound elevator to convey the thawing boxes to the conveying device, the thawing boxes are manually taken down for loading, and the step one in other modes is repeated.

In the working method applied to the loading and unloading device for the unfreezing warehouse, the weighing roller conveyor comprises a rack, a plurality of conveying rollers are connected to the rack in a rotating mode, a driving motor is connected with the conveying rollers in a driving mode, a weight sensor is further arranged on the rack, and a photoelectric sensor is arranged on the upper surface of the rack.

In foretell working method who is applied to storehouse loading and unloading device that unfreezes, the machine of scalding water includes the machine of scalding water main part of scalding water in the machine of scalding water frame and fixed connection, the cavity of scalding water has in the machine of scalding water main part, and the cavity of scalding water communicates ascending opening, the machine of scalding water still includes the funnel of connecting in the machine of scalding water frame, be equipped with the conveying chain under the funnel, the conveying chain is located directly over the open-ended, the one end of the machine of scalding water main part is equipped with the food discharge gate, the direction of conveying chain is for keeping away from the direction of food discharge gate, and the mobile robot can make the one end of robot be located the top of funnel.

In the above working method applied to the loading and unloading device of the thawing warehouse, the robot comprises a base fixedly arranged on the ground and a movable part rotatably connected with the base, one end of the movable part far away from the base is provided with a holding component for holding the thawing box, and the holding component can be moved to press the holding component on the outer side wall of the thawing box.

In the working method applied to the loading and unloading device of the thawing warehouse, the gripping assembly comprises an installation platform connected to the movable part, a linear driving structure is arranged on the installation platform, the clamping plate is in driving connection with the linear driving structure, two drag hooks protrude from the upper surface of the clamping plate, and the driving of the clamping plate can enable the thawing box to be positioned between the two drag hooks;

the two sides of the mounting platform are respectively and fixedly connected with a limiting plate, one end of each limiting plate, which is far away from the mounting platform, is provided with a limiting bend, and the limiting bends are perpendicular to the limiting plates;

the mounting platform is further rotatably connected with a rolling support body, and the rolling support body comprises a cylindrical rolling shaft and/or a spherical rolling ball.

In the above-mentioned working method applied to the loading and unloading device of the thawing warehouse, the roller conveying device includes an installation frame, a first conveying line and a second conveying line are arranged on the installation frame, the first conveying line is located above the second conveying line, one ends of the first conveying line and the second conveying line, which are close to the reciprocating elevator, are both communicated with the reciprocating elevator, one ends of the first conveying line and the second conveying line, which are far away from the reciprocating elevator, are both provided with a stopping and stopping block, and a thawing box located on the first conveying line or the second conveying line is moved to enable the thawing box to be pressed on the stopping and stopping block.

Compared with the prior art, the invention has the advantages that:

1. the invention has a plurality of working modes such as a charging mode, a discharging mode, a mixing mode and other modes for selection, and can select the working modes according to the requirements of actual conditions, thereby greatly improving the production efficiency.

2. The loading and unloading device provided by the invention has the advantages of high automation degree and high production efficiency, and reduces manual operation, thereby reducing the labor intensity.

3. The grasping assembly is simple in structure and convenient to operate, and the grasping and unfreezing box is good in stability.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a functional block diagram of the present invention;

fig. 3 is a schematic structural view of the water blanching machine;

FIG. 4 is a schematic view of the structure of the gripping assembly;

FIG. 5 is a schematic view of the structure of the conveying apparatus;

FIG. 6 is a schematic view of a weighing roller conveyor;

in the figure: the robot 9, the blanching machine 10, the conveying device 11, the basket washing machine 12, the reciprocating type lifter 13, the weighing roller conveyor 14, the rolling support body 90, the base 91, the movable part 92, the gripping component 93, the mounting platform 94, the linear driving structure 95, the clamping plate 96, the draw hook 97, the limiting plate 98, the limiting bend 99, the transport trolley 100, the blanching machine frame 101, the blanching machine body 102, the blanching cavity 103, the opening 104, the funnel 105, the conveying chain 106, the food discharge port 107, the mounting frame 111, the first conveying line 112, the second conveying line 113, the stopping block 114, the first lifting structure 131, the second lifting structure 132, the horizontal conveying belt 133, the transfer clamping jaw 134, the frame 141, the conveying roller 142, the driving motor 143, the weight sensor 144, the thawing box 400, the control system 500 and the distance measuring sensor 600.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 and 2, an operating method of a loading and unloading device applied to a thawing warehouse includes a loading mode in which only loading operation is performed, an unloading mode in which only unloading operation is performed, a hybrid mode in which loading operation and unloading operation are performed simultaneously, and other modes for goods that do not need thawing. Therefore, the invention has a plurality of working modes such as a charging mode, a discharging mode, a mixing mode and other modes for selection, and can select the working modes according to the requirements of actual conditions, thereby greatly improving the production efficiency.

Specifically, the charging mode comprises the following working steps:

the method comprises the following steps: after the transport trolley 100 moves to the designated position, measuring the distance between the transport trolley 100 and the distance measuring sensor 600, and feeding back the measurement result to the control system 500;

step two: the control system 500 controls the robot 9 to take the empty thawing box 400 out of the transport trolley 100, place the empty thawing box on the conveying device 11, convey the thawing box 400 to a manual box taking place through the conveying device 11, and manually take the frozen raw material goods after the thawing box 400 is fully taken out;

step three: manually placing the thawing boxes 400 filled with the raw materials of the frozen goods on the weighing roller conveyor 14 for weighing, and feeding back and recording the weighing result to the control system 500;

step four: after the weighing result is recorded, the weighing roller conveyor 14 and the conveying device 11 convey the thawing boxes 400 filled with the frozen raw material to the designated positions grabbed by the robot 9;

step five: the robot 9 picks the thawing boxes 400 filled with the frozen raw materials and puts the boxes into the transportation trolleys 100, and when one transportation trolley 100 is full, the transportation trolley moves to change the next transportation trolley until the loading is finished.

The unloading mode comprises the following working steps:

the method comprises the following steps: after the thawing is completed, the transportation trolley 100 is moved to a designated position, the distance between the transportation trolley 100 and the transportation trolley 100 is measured by using the distance measuring sensor 600, and the measurement result is fed back to the control system 500;

step two: the control system 500 controls the robot 9 to take out the thawing box 400 in the transport trolley 100 and pour the thawed raw material of the goods into the blanching machine 10;

step three: the robot 9 puts the unfreezing box 400 with the raw material of the articles poured into the basket washing machine 12, wherein the basket washing machine 12 can be a basket washing machine commonly used in the prior art, and the unfreezing box 400 comes out from the other end of the basket washing machine 12 after being cleaned and enters the reciprocating type lifter 13;

step four: the control system 500 controls the multiple elevator 13 to convey the thawing boxes 400 to the conveying device 11, and the thawing boxes are conveyed to the empty box grabbing positions designated by the robot 9 through the conveying device 11;

step five: the robot 9 grabs and places the empty thawing box 400 in the transport trolley 100, and when the thawing box 400 filled with the raw material of the goods is taken out and the washed thawing box 400 is placed in the transport trolley 100, the transport trolley 100 moves to change the next transport trolley 100 until the unloading is finished.

The mixed mode comprises the following working steps:

the method comprises the following steps: after the thawing is completed, the transportation trolley 100 is moved to a designated position, the distance between the transportation trolley 100 and the transportation trolley is measured by using the distance measuring sensor 600, and the measurement result is fed back to the control system 500;

step three: the robot 9 puts the unfreezing box 400 with the raw material of the articles poured into the basket washing machine 12, and the unfreezing box 400 is discharged from the other end of the basket washing machine 12 after being cleaned and enters the reciprocating type lifter 13;

step four: the control system 500 controls the multiple elevator 13 to convey the thawing box 400 to the conveying device 11, and the thawing box 400 is manually taken down and filled with frozen raw material;

step five: manually placing the thawing boxes 400 filled with the raw materials of the frozen goods on the weighing roller conveyor 14 for weighing, and feeding back and recording the weighing result to the control system 500;

step six: after the weighing result is recorded, the weighing roller conveyor 14 and the conveying device 11 convey the thawing boxes 400 filled with the frozen raw material to the designated positions grabbed by the robot 9;

step seven: the robot 9 grabs the thawing boxes 400 filled with the frozen article raw materials and then puts the box into the transport trolleys 100, and when one transport trolley 100 is full, the next transport trolley is moved;

step eight: and (4) unfreezing the full transport trolley 100, and repeating the step one of the mixing mode after unfreezing.

The other modes comprise the following working steps:

the method comprises the following steps: placing the raw material of the goods in the unfreezing box 400, manually placing the unfreezing box 400 filled with the raw material of the frozen goods on the weighing roller conveyor 14 for weighing, and feeding back and recording the weighing result to the control system 500;

step two: after the weighing result is recorded, the weighing roller conveyor 14 and the conveying device 11 convey the thawing boxes 400 filled with the frozen raw material to the designated positions grabbed by the robot 9;

step three: the control system 500 controls the robot 9 to take out the thawing box 400 in the transport trolley 100 and pour the thawed raw material of the goods into the blanching machine 10;

step four: the robot 9 puts the unfreezing box 400 with the raw material of the articles poured into the basket washing machine 12, and the unfreezing box 400 is discharged from the other end of the basket washing machine 12 after being cleaned and enters the reciprocating type lifter 13;

step five: the control system 500 controls the multiple elevator 13 to convey the thawing box 400 to the conveying device 11, manually takes off the thawing box 400 for loading, and repeats the step one in other modes.

Further, as shown in fig. 3 to 6, the robot 9, the blanching machine 10, the conveyor device 11, the reciprocating lifter 13, and the weighing drum conveyor 14 may have the following specific configurations.

Combine fig. 1 and fig. 3 to show, water machine 10 includes water machine frame 101 and the water machine main part 102 of scalding of fixed connection on water machine frame 101 of scalding, water machine main part 102 has in scalding water cavity 103, and water is held in scalding water cavity 103, scalds water cavity 103 intercommunication ascending opening 104 to in pouring into water cavity 103 through opening 104 with the article in the case 400 that unfreezes, the top that the one end that removes robot 9 can make robot 9 is located opening 104. Scalding water machine 10 still including connecting the funnel 105 on scalding water machine frame 101, be equipped with conveying chain 106 under the funnel 105, conveying chain 106 is located opening 104 directly over, the one end of scalding water machine main part 102 is equipped with food discharge gate 107, the direction of delivery of conveying chain 106 is for keeping away from the direction of food discharge gate 107, and the one end that removes robot 9 and can make robot 9 is located the top of funnel 105. Like this article are longer by the route that the process that food discharge gate 107 shifted out again after falling into blanching cavity 103 experiences to guarantee to cross the water effect.

During the use, the one end centre gripping of robot 9 box 400 that unfreezes and remove to funnel 105 top, and robot 9 drive box 400 that unfreezes makes box 400 that unfreezes slope gradually until the upset, and the content of box 400 that unfreezes falls into funnel 105 to fall to conveying chain 106 through funnel 105 on, conveying chain 106 carries out the orientation transportation of keeping away from food discharge gate 107 to article, and finally breaks away from conveying chain 106, and article fall under the action of gravity and scald in water cavity 103.

As shown in fig. 1 and 4, the robot 9 includes a base 91 fixedly disposed on the ground and a movable portion 92 rotatably connected to the base 91, a grip assembly 93 for gripping the thawing box 400 is disposed at an end of the movable portion 92 away from the base 91, and the grip assembly 93 is moved to press the grip assembly 93 against an outer side wall of the thawing box 400.

Specifically, the gripping assembly 93 includes a mounting platform 94 connected to the movable portion 92, a linear driving structure 95 is disposed on the mounting platform 94, and the linear driving structure 95 may be a specific structure commonly used in the prior art for realizing linear driving, such as an air cylinder, an oil cylinder, or a combination of a screw rod and a sliding sleeve. The holding plate 96 is in driving connection with the linear driving structure 95, two draw hooks 97 protrude from the upper surface of the holding plate 96, and the thawing box 400 can be located between the two draw hooks 97 by driving the holding plate 96. Two sides of the mounting platform 94 are fixedly connected with a limiting plate 98 respectively, one end of the limiting plate 98 far away from the mounting platform 94 is provided with a limiting bend 99, and the limiting bend 99 is perpendicular to the limiting plate 98. The limiting bend 99 can support and limit the unfreezing box 400 when the unfreezing box 400 is turned over, and the unfreezing box 400 is prevented from falling out of the gripping assembly 93. Therefore, the grasping assembly 93 of the present invention has a simple structure and is convenient to operate, and the stability of grasping the thawing box 400 is good.

When the robot 9 grips the target thawing tank 400, the gripper unit 93 is first transferred to one end side of the thawing tank 400 by the movable portion 92, and the thawing tank 400 is positioned approximately at the center of the gripper unit 93. At this time, the height of the grip assembly 93 in the vertical direction is slightly lower than the defrosting tank 400, and the linear driving structure 95 drives the grip plate 96 such that the grip plate 96 protrudes out of the mounting platform 94 to below the defrosting tank 400. The movable portion 92 drives the grasping assembly 93 to move upward integrally, so that the holding plate 96 is attached to the bottom surface of the thawing box 400, and the thawing box 400 is just positioned between the two hooks 97. The linear driving mechanism 95 drives the clamping plate 96 to reposition the clamping plate 96, and the thawing box 400 is pulled back into the mounting platform 94 under the driving of the draw hook 97.

Preferably, the gripping assembly 93 further includes a slidably attached slider and guide bar, the guide bar being fixedly attached to the mounting platform 94, and the slider being fixedly attached to the clamping plate 96. The interaction of the slide and guide bars guides the direction of sliding movement of the clamping plate 96.

As shown in fig. 4, the mounting platform 94 is further rotatably connected with a rolling support 90, and the rolling support 90 includes a cylindrical roller and/or a spherical ball. Thus, the friction experienced by the defrost tank 400 due to rolling when the defrost tank 400 is pulled back into the mounting platform 94 by the retaining plate 96 is greatly reduced. While the rolling support 90 may also provide support to the defrost tank 400.

As shown in fig. 5, the reciprocating lifter 13 comprises a first lifting structure 131 located at one end of the basket washing machine 12 and communicated with the basket washing machine 12, and a second lifting structure 132 located at one end of the roller conveyor 11 and communicated with the roller conveyor 11, wherein the first lifting structure 131 and the second lifting structure 132 are communicated with each other through a horizontal conveyor belt 133, and a transfer clamping jaw 134 for clamping the defrosting box 400 is in driving connection with the horizontal conveyor belt 133.

Referring to fig. 5 and 6, the weighing drum conveyor 14 includes a frame 141, a plurality of conveying rollers 142 are rotatably connected to the frame 141, a driving motor 143 is drivingly connected to the conveying rollers 142, a weight sensor 144 is further disposed on the frame 141, and a photoelectric sensor is disposed on an upper surface of the frame 141. The photoelectric sensor may sense whether the thawing tank 400 is placed on the rack 141 and the weight sensor 144 may measure the total weight of the thawing tank 400.

As shown in fig. 5, the roller conveyor 11 includes a mounting frame 111, a first conveyor line 112 and a second conveyor line 113 are arranged on the mounting frame 111, the first conveyor line 112 is located above the second conveyor line 113, one ends of the first conveyor line 112 and the second conveyor line 113 close to the reciprocating elevator 13 are both communicated with the reciprocating elevator 13, one ends of the first conveyor line 112 and the second conveyor line 113 far away from the reciprocating elevator 13 are both provided with a stop block 114, and the thawing box 400 located on the first conveyor line 112 or the second conveyor line 113 is moved to press the thawing box 400 on the stop block 114.

When the unfreezing box 400 at one end of the basket washing machine 12 is clamped by the transfer clamping jaw 134 and transferred to one end of the roller conveying device 11 sequentially through the first lifting structure 131, the horizontal conveying belt 133 and the second lifting structure 132, the driving motor 143 is started to drive the conveying rollers 142 to rotate, so that the unfreezing box 400 on the conveying rollers 142 is transferred to the first conveying line 112 or the second conveying line 113 and conveyed through the first conveying line 112 or the second conveying line 113 until the unfreezing box is pressed on the stop block 114 to stop moving.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Although the robot 9, the blanching machine 10, the transport device 11, the basket washing machine 12, the reciprocating lifter 13, the weighing roller conveyor 14, the rolling support 90, the base 91, the movable part 92, the gripping assembly 93, the mounting platform 94, the linear driving structure 95, the clamping plate 96, the draw hook 97, the limiting plate 98, the limiting bend 99, the transport trolley 100, the blanching machine frame 101, the blanching machine body 102, the blanching cavity 103 are used more often, the terms opening 104, hopper 105, conveyor chain 106, product outlet 107, mounting frame 111, first conveyor line 112, second conveyor line 113, stop block 114, first lifting structure 131, second lifting structure 132, horizontal conveyor belt 133, transfer jaw 134, rack 141, conveyor rollers 142, drive motor 143, weight sensor 144, defrost box 400, control system 500, distance measuring sensor 600, etc., but do not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Claims

1. The working method of the loading and unloading device applied to the thawing warehouse is characterized in that: the method comprises a charging mode for only charging, a discharging mode for only discharging, a mixed mode for simultaneously charging and discharging and other modes for goods which do not need to be defrosted;

the charging mode comprises the following working steps:

the method comprises the following steps: after the transport trolley (100) moves to the designated position, measuring the distance between the transport trolley (100) and the distance measuring sensor (600), and feeding back the measurement result to the control system (500);

step two: the control system (500) controls the robot (9) to take the empty thawing box (400) out of the transport trolley (100) and place the empty thawing box on the conveying device (11), the thawing box (400) is conveyed to a manual box taking place through the conveying device (11), and frozen article raw materials are filled in the thawing box (400) after the thawing box is manually taken down;

step three: manually placing the unfreezing box (400) filled with the raw material of the frozen goods on a weighing roller conveyor (14) for weighing, and feeding back and recording the weighing result to a control system (500);

step four: after the weighing result is recorded, the weighing roller conveyor (14) and the conveying device (11) convey the thawing boxes (400) filled with the frozen raw material to the designated positions grabbed by the robot (9);

step five: the robot (9) grabs the thawing boxes (400) filled with the frozen raw material and then puts the boxes into the transport trolleys (100), and when one transport trolley (100) is full, the next transport trolley is moved until the filling is finished.

2. The working method applied to the thawing warehouse loading and unloading device according to claim 1, characterized in that: the unloading mode comprises the following working steps:

the method comprises the following steps: after the thawing is finished, the transport trolley (100) is moved to a designated position, the distance between the transport trolley (100) and the transport trolley (100) is measured by using a distance measuring sensor (600), and the measurement result is fed back to the control system (500);

step two: the control system (500) controls the robot (9) to take out the unfreezing box (400) in the transport trolley (100) and pour the unfrozen raw material of the article into the blanching machine (10);

step three: the robot (9) puts the unfreezing box (400) with the raw material of the article poured into the basket washing machine (12), and the unfreezing box (400) enters the reciprocating type elevator (13) after being cleaned and coming out from the other end of the basket washing machine (12);

step four: the control system (500) controls the compound hoister (13) to convey the unfreezing boxes (400) to the conveying device (11) and convey the unfreezing boxes to the empty box grabbing positions designated by the robot (9) through the conveying device (11);

step five: the robot (9) grabs and places the empty thawing box (400) in the transport trolley (100), and when the thawing box (400) filled with the raw material of the goods is taken out and the washed thawing box (400) is placed in the transport trolley (100), the transport trolley (100) moves to change the next transport trolley (100) until the unloading is finished.

3. The working method applied to the thawing warehouse loading and unloading device according to claim 1, characterized in that: the hybrid mode comprises the following working steps:

step four: the control system (500) controls the compound hoister (13) to convey the thawing boxes (400) to the conveying device (11), and frozen article raw materials are fully filled after the thawing boxes (400) are manually taken down;

step five: manually placing the unfreezing box (400) filled with the raw material of the frozen goods on a weighing roller conveyor (14) for weighing, and feeding back and recording the weighing result to a control system (500);

step six: after the weighing result is recorded, the weighing roller conveyor (14) and the conveying device (11) convey the thawing boxes (400) filled with the frozen raw material to the designated positions grabbed by the robot (9);

step seven: the robot (9) grabs the unfreezing box (400) filled with the frozen article raw materials and then puts the unfreezing box into the transport trolley (100), and when one transport trolley (100) is full, the next transport trolley is moved;

step eight: and (5) unfreezing the filled transport trolley (100), and repeating the step one of the mixing mode after unfreezing.

4. The working method applied to the thawing warehouse loading and unloading device according to claim 1, characterized in that: the other modes comprise the following working steps:

the method comprises the following steps: placing the raw material of the goods in a thawing box (400), manually placing the thawing box (400) filled with the raw material of the frozen goods on a weighing roller conveyor (14) for weighing, and feeding back and recording the weighing result to a control system (500);

step two: after the weighing result is recorded, the weighing roller conveyor (14) and the conveying device (11) convey the thawing boxes (400) filled with the frozen raw material to the designated positions grabbed by the robot (9);

step three: the control system (500) controls the robot (9) to take out the unfreezing box (400) in the transport trolley (100) and pour the unfrozen raw material of the article into the blanching machine (10);

step four: the robot (9) puts the unfreezing box (400) with the raw material of the article poured into the basket washing machine (12), and the unfreezing box (400) enters the reciprocating type elevator (13) after being cleaned and coming out from the other end of the basket washing machine (12);

step five: the control system (500) controls the compound hoister (13) to convey the thawing boxes (400) to the conveying device (11), the thawing boxes (400) are manually taken down for loading, and the step I in other modes is repeated.

5. The working method applied to the loading and unloading device of the thawing warehouse as claimed in any one of claims 2 to 4, characterized in that: the weighing roller conveyor (14) comprises a rack (141), wherein a plurality of conveying rollers (142) are connected to the rack (141) in a rotating mode, a driving motor (143) is connected with the conveying rollers (142) in a driving mode, a weight sensor (144) is further arranged on the rack (141), and a photoelectric sensor is arranged on the upper surface of the rack (141).

6. The working method applied to the loading and unloading device of the thawing warehouse as claimed in any one of claims 2 to 4, characterized in that: scalding water machine (10) and including scalding water machine main part (102) of scalding on scalding water machine frame (101) of scalding machine frame (101), it has to scald water cavity (103) to scald in water machine main part (102), scalds water cavity (103) intercommunication ascending opening (104), it still includes funnel (105) of connecting on scalding water machine frame (101) to scald water machine (10), be equipped with conveying chain (106) under funnel (105), conveying chain (106) are located opening (104) directly over, the one end of scalding water machine main part (102) is equipped with food discharge gate (107), the direction of conveying chain (106) is for keeping away from the direction of food discharge gate (107), and the one end that removes robot (9) and can make robot (9) is located the top of funnel (105).

7. The working method applied to the loading and unloading device of the thawing warehouse as claimed in any one of claims 2 to 4, characterized in that: robot (9) are including fixed base (91) that sets up on ground and with base (91) rotation connection's movable part (92), the one end that base (91) were kept away from in movable part (92) is equipped with and is used for snatching the subassembly (93) of grabbing of unfreezing case (400), remove and grab subassembly (93) and can make and grab subassembly (93) and press and establish on the lateral wall of unfreezing case (400).

8. The working method applied to the thawing warehouse loading and unloading device according to claim 7, characterized in that: the grabbing assembly (93) comprises a mounting platform (94) connected to the movable portion (92), a linear driving structure (95) is arranged on the mounting platform (94), the clamping plate (96) is in driving connection with the linear driving structure (95), two draw hooks (97) protrude out of the upper surface of the clamping plate (96), and the unfreezing box (400) can be located between the two draw hooks (97) by driving the clamping plate (96);

two sides of the mounting platform (94) are respectively and fixedly connected with a limiting plate (98), one end, far away from the mounting platform (94), of each limiting plate (98) is provided with a limiting bend (99), and the limiting bends (99) are perpendicular to the limiting plates (98);

the mounting platform (94) is further rotatably connected with a rolling support body (90), and the rolling support body (90) comprises a cylindrical rolling shaft and/or spherical rolling balls.

9. The working method applied to the loading and unloading device of the thawing warehouse as claimed in any one of claims 2 to 4, characterized in that: conveyor (11) include installation frame (111), be equipped with first transfer chain (112) and second transfer chain (113) on installation frame (111), first transfer chain (112) are located the top of second transfer chain (113), the one end that is close to reciprocating lift (13) of first transfer chain (112) and second transfer chain (113) all is linked together with reciprocating lift (13), and the one end that reciprocating lift (13) were kept away from in first transfer chain (112) and second transfer chain (113) all is equipped with stops backstop piece (114), and case (400) of unfreezing that the removal is located on first transfer chain (112) or second transfer chain (113) can make and unfreeze case (400) to press and establish on stopping backstop piece (114).