Egg wash equipment

Abstract

The present application relates to the technical field of food processing, and in particular to an egg-brushing device, comprising a conveying mechanism, a position detection mechanism and an egg-brushing mechanism; the conveying mechanism comprises a conveying line and a speed detection device, the speed detection device is used to detect the conveying speed of the conveying line to the tray; the position detection mechanism is used to obtain the three-dimensional position information of the moon cakes on the tray; the egg-brushing mechanism comprises a robot and a brush, the speed detection device and the position detection mechanism are both connected to the robot signal; the robot is used to obtain the moving path and moving speed of the brush for brushing the moon cakes on the tray with egg liquid according to the conveying speed of the tray and the three-dimensional position information of the moon cakes through data processing, and the robot controls the brush to move accordingly according to the obtained moving path and moving speed so as to brush the moon cakes with egg liquid. The present application can realize the fully mechanical and automated operation of brushing the moon cakes with egg liquid, and effectively solves the technical problems of poor egg liquid smearing effect and low efficiency in the prior art.

Description

Technical Field

[0001] The present application relates to the technical field of food processing, and in particular to an egg wash brushing device. Background Art

[0002] Eating mooncakes during the Mid-Autumn Festival is a Chinese tradition that has been passed down for thousands of years. In the middle of baking, a layer of egg liquid needs to be applied on the surface of the mooncakes to make them golden in color after baking. As traditional Cantonese mooncakes have clear angles and the cake body expands into a waist drum shape, they are not only required to be golden in color, with consistent depth, but also with exquisite and clear patterns after baking. Therefore, brushing egg liquid is not simply applying egg liquid on the surface of the mooncake, but requires skills. The egg liquid must be lightly and evenly applied to the patterns on the surface of the mooncake. The existing process of brushing egg liquid is still mostly done manually, but because the section of brushing egg liquid needs to be set in the middle section of the tunnel oven, the room temperature is above 40 degrees, and the working environment is difficult; and the efficiency of brushing egg liquid manually is low.

[0003] However, in recent years, with the continuous increase in mooncake sales, the production efficiency of mooncakes also needs to be improved, and many devices for quickly brushing egg liquid have appeared. However, the egg liquid brushing equipment in the prior art only focuses on solving the problem of production efficiency, and ignores many details in production, such as uneven trays, errors in automatic plate arrangement, or slight differences in individual mooncakes. Mechanized rapid egg sweeping makes it difficult to ensure that the egg liquid can be evenly applied on the surface of each mooncake pattern, resulting in uneven color of the baked mooncakes, unclear patterns, or too dark coloring on the surface except for the patterns. Although the existing technology has solved the problem of production efficiency, it is difficult to meet the requirements of traditional Cantonese mooncakes. Therefore, a device for brushing egg liquid with good application effect and high efficiency is needed. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide an egg liquid brushing device, which effectively solves the technical problems of poor egg liquid application effect and low efficiency in the prior art.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] An egg brushing device comprises a conveying mechanism, a position detection mechanism and an egg brushing mechanism;

[0007] The conveying mechanism includes a conveying line and a speed detection device. The conveying line is used to convey trays with moon cakes. The trays on the conveying line pass through the position detection mechanism and the egg liquid brushing mechanism in sequence.

[0008] The speed detection device is used to detect the conveying speed of the conveying line to the pallet;

[0009] The position detection mechanism is used to visually scan the mooncakes on the tray and obtain the three-dimensional position information of the mooncakes;

[0010] The egg liquid brushing mechanism comprises a robot and a brush, wherein the brush is arranged at the movable end of the robot, and the speed detection device and the position detection mechanism are both connected to the robot signal;

[0011] The robot is used to obtain the moving path and moving speed of the brush for brushing the mooncakes on the tray with egg liquid according to the conveying speed of the tray and the three-dimensional position information of the mooncakes through data processing, and the robot controls the brush to move accordingly according to the obtained moving path and moving speed so as to brush the mooncakes on the tray with egg liquid.

[0012] Preferably, in the above-mentioned egg liquid brushing device, the robot comprises a control system, a mechanical arm, and a brush clamping mechanism;

[0013] The speed detection device and the position detection mechanism are both connected to the control system signal, the control system is connected to the mechanical arm, and the brush clamping mechanism is rotationally connected to the mechanical arm.

[0014] Preferably, the above-mentioned egg liquid brushing equipment also includes an egg liquid storage device, and the control system controls the robotic arm to drive the brush clamping mechanism to drive the brush to move to the egg liquid storage device to dip the egg liquid and then brush the moon cakes on the tray with the egg liquid.

[0015] Preferably, in the above-mentioned egg liquid brushing equipment, the egg liquid storage device includes a liquid storage tank and an egg liquid scraping rod, and the egg liquid scraping rod is mounted in the liquid storage tank.

[0016] Preferably, in the above-mentioned egg liquid brushing equipment, the egg liquid storage device further comprises a refrigeration tank, and the liquid storage tank is placed in the refrigeration tank;

[0017] The refrigeration tank is provided with a refrigeration component, and the refrigeration component includes a heat conduction plate, a water channel is provided inside the heat conduction plate, and the heat conduction plate is provided with a cold water inlet and a cold water outlet; the heat conduction plate is thermally connected to the refrigeration tank.

[0018] Preferably, in the above-mentioned egg liquid brushing device, the brush clamping mechanism comprises a clamping claw cylinder, and the clamping claw cylinder is rotatably connected to the free end of the mechanical arm;

[0019] The two claws of the clamping claw cylinder are provided with grooved pads facing each other;

[0020] The two groove-shaped pads are provided with clamping grooves facing each other, and the two clamping grooves together form a clamping space matching the brush.

[0021] Preferably, in the above-mentioned egg liquid brushing device, the speed detection device includes an encoder, a connecting piece and a spring;

[0022] The first end of the connecting member is rotatably connected to the conveying support of the conveying line, and the encoder is installed on the second end of the connecting member;

[0023] The first end of the spring is connected to the middle part of the connecting piece, and the second end of the spring is connected to the delivery bracket;

[0024] The connecting piece is arranged obliquely, and the spring is in a stretched state, so that the rotating wheel of the encoder is in rolling contact with the transmission shaft of the conveyor line.

[0025] Preferably, the above-mentioned egg liquid brushing equipment also includes a correction device for correcting the position of the tray on the conveyor line.

[0026] Preferably, in the above-mentioned egg liquid brushing device, the correction device includes a correction mechanism and an induction sensor;

[0027] The correction mechanism is provided on both sides of the conveyor line, and the correction mechanism comprises a telescopic cylinder and a push plate, and the push plate is connected to the piston rod of the telescopic cylinder;

[0028] The two push plates are arranged in parallel and a correction area is formed between the two push plates. The induction sensor is used to detect whether the induction tray reaches the correction area.

[0029] Preferably, in the above-mentioned egg liquid brushing equipment, the position detection mechanism is specifically a three-dimensional scanner.

[0030] The present application can be used to brush moon cakes with egg liquid, and can also be used to brush wife cakes, bread and other foods with egg liquid, which will not be described in detail in the present application.

[0031] Compared with the prior art, the beneficial effects of this application are:

[0032] The present application continuously conveys trays with moon cakes through a conveyor line, and detects the conveying speed of the tray on the conveyor line through a speed detection device and transmits the data to a robot. When the tray passes through a position detection mechanism, the position detection mechanism can obtain the three-dimensional position information of the moon cakes by visually scanning the moon cakes on the tray and transmits the data to the robot. The robot of the egg liquid brushing mechanism obtains the moving path and moving speed of the brush for brushing the moon cakes on the tray with egg liquid by performing data processing on the conveying speed of the tray and the three-dimensional position information of the moon cakes, and the robot of the egg liquid brushing mechanism controls the brush to move accordingly according to the obtained moving path and moving speed so as to brush the moon cakes on the tray with egg liquid. Fully mechanical and automated operation of brushing egg liquid on moon cakes can be achieved, and good egg liquid coating effect is achieved, which replaces traditional manual coating, reduces unnecessary labor burden, is beneficial to improving the processing quality and efficiency of moon cakes, reduces the labor cost of the factory, and effectively solves the technical problems of poor egg liquid coating effect and low efficiency in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0034] Figure 1 A three-dimensional diagram of an egg wash brushing device provided in an embodiment of the present application;

[0035] Figure 2 A front view of an egg wash brushing device provided in an embodiment of the present application;

[0036] Figure 3 A top view of an egg wash brushing device provided in an embodiment of the present application;

[0037] Figure 4 A side view of an egg wash brushing device provided in an embodiment of the present application;

[0038] Figure 5 A top view of a speed detection device for an egg wash brushing device provided in an embodiment of the present application;

[0039] Figure 6 A bottom view of a speed detection device for an egg wash equipment provided in an embodiment of the present application;

[0040] Figure 7 A three-dimensional diagram of a brush clamping mechanism of an egg wash brushing device provided in an embodiment of the present application;

[0041] Figure 8 A schematic diagram of the working of a brush clamping mechanism of an egg wash brushing device provided in an embodiment of the present application;

[0042] Fig. 9 A three-dimensional diagram of an egg liquid storage device of an egg liquid brushing device provided in an embodiment of the present application;

[0043] Fig.10 A schematic diagram of an egg liquid storage device of an egg liquid brushing device provided in an embodiment of the present application after removing the liquid storage tank;

[0044] Fig.11 A three-dimensional diagram of a liquid storage tank of an egg liquid brushing device provided in an embodiment of the present application;

[0045] Fig.12 A schematic diagram of an egg liquid storage device of an egg liquid brushing device provided in an embodiment of the present application after a refrigeration tank is removed;

[0046] Fig.13 A three-dimensional diagram of a cooling tank of an egg wash equipment provided in an embodiment of the present application;

[0047] Fig.14 A schematic structural diagram of a correction device for an egg wash brushing device provided in an embodiment of the present application.

[0048] In the figure:

[0049] 1 is a conveyor line, 11 is a tray, 2 is a speed detection device, 21 is a conveying bracket, 22 is a transmission shaft, 23 is an encoder, 231 is a rotating wheel, 24 is a spring, 25 is a connecting piece, 26 is an extension piece, 261 is a first bolt, 27 is a fixing seat, 271 is a second bolt, 272 is a supporting piece, 3 is a position detection mechanism, 4 is an egg liquid brushing mechanism, 41 is a mechanical arm, 42 is a clamping claw cylinder, 421 is a claw head, 43 is a groove pad, 431 is a clamping groove, 44 is an L-shaped plate, 45 is a flange bearing, 46 is a brush, 5 is an egg liquid storage device, 51 It is a liquid storage tank, 511 is a first retaining ring, 512 is an egg scraper rod, 52 is a refrigeration tank, 521 is a second retaining ring, 522 is a second clamping piece, 53 is a support frame, 531 is a drawer, 532 is a drawer guide, 533 is a first groove, 54 is a detection sensor, 55 is a fixing piece, 551 is a first clamping piece, 56 is a heat conducting plate, 6 is a correction device, 61 is a correction mechanism, 611 is a telescopic cylinder, 612 is a push plate, 613 is a fixing plate, 62 is an induction sensor, 63 is a mounting seat, 631 is a first mounting plate, and 632 is a second mounting plate. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0052] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a replaceable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0053] Eating mooncakes during the Mid-Autumn Festival is a Chinese tradition that has been passed down for thousands of years. In the middle of baking, a layer of egg liquid needs to be applied on the surface of the mooncakes to make them golden in color after baking. As traditional Cantonese mooncakes have clear angles and the cake body expands into a waist drum shape, they are not only required to be golden in color, with consistent depth, but also with exquisite and clear patterns after baking. Therefore, brushing egg liquid is not simply applying egg liquid on the surface of the mooncake, but requires skills. The egg liquid must be lightly and evenly applied to the patterns on the surface of the mooncake. The existing process of brushing egg liquid is still mostly done manually, but because the section of brushing egg liquid needs to be set in the middle section of the tunnel oven, the room temperature is above 40 degrees, and the working environment is difficult; and the efficiency of brushing egg liquid manually is low.

[0054] However, in recent years, with the continuous increase in mooncake sales, the production efficiency of mooncakes also needs to be improved, and many devices for quickly brushing egg liquid have appeared. However, the egg liquid brushing equipment in the prior art only focuses on solving the problem of production efficiency, and ignores many details in production, such as uneven trays, errors in automatic plate arrangement, or slight differences in individual mooncakes. Mechanized rapid egg sweeping makes it difficult to ensure that the egg liquid can be evenly applied on the surface of each mooncake pattern, resulting in uneven color of the baked mooncakes, unclear patterns, or too dark coloring on the surface except for the patterns. Although the existing technology has solved the problem of production efficiency, it is difficult to meet the requirements of traditional Cantonese mooncakes. Therefore, a device for brushing egg liquid with good application effect and high efficiency is needed.

[0055] See also Figure 1-Figure 14The embodiment of the present application provides an egg-brushing device, comprising a conveying mechanism, a position detection mechanism 3 and an egg-brushing mechanism 4; the conveying mechanism comprises a conveying line 1 and a speed detection device 2, the conveying line 1 is used to convey a tray 11 with moon cakes, and the tray 11 on the conveying line 1 passes through the position detection mechanism 3 and the egg-brushing mechanism 4 in sequence; the speed detection device 2 is used to detect the conveying speed of the conveying line 1 to the tray 11; the position detection mechanism 3 is used to visually scan the moon cakes on the tray 11 and obtain the three-dimensional position information of the moon cakes; the egg-brushing mechanism 4 comprises a robot and a brush 46, the brush 46 is arranged at the active end of the robot, and the speed detection device 2 and the position detection mechanism 3 are both connected to the robot signal; the robot is used to obtain the moving path and moving speed of the brush 46 for brushing the moon cakes on the tray 11 with egg liquid according to the conveying speed of the tray 11 and the three-dimensional position information of the moon cakes through data processing, and the robot controls the brush 46 to move accordingly according to the obtained moving path and moving speed so as to brush the moon cakes on the tray 11 with egg liquid.

[0056] This example can be used to brush moon cakes with egg liquid, and can also be used to brush other foods such as wife cakes and bread with egg liquid. This embodiment will not be described in detail one by one.

[0057] More specifically, the conveyor line 1 is arranged on the conveyor bracket 21, the position detection mechanism 3 and the egg liquid brushing mechanism 4 are respectively arranged on the first bracket and the second bracket, and the first bracket and the second bracket are both arranged in a door-shaped frame across the conveyor bracket 21, so that the position detection mechanism 3 and the egg liquid brushing mechanism 4 can be located above the conveyor line 1; the position detection mechanism 3 and the egg liquid brushing mechanism 4 are both provided with independent control panels; the three-dimensional position information of the moon cake includes the position data of the moon cake on the tray 11 and the height data of the moon cake itself. When processing the data, the scanning area of ​​the tray 11 scanned by the position detection mechanism 3 can be used to derive the position of the tray 11 on the conveyor line 1 (equivalent to the initial position of each tray 11), and combined with the position data of the moon cake on the tray 11, the height information of the moon cake can be calculated. The mooncake is located at the scanning position on the conveyor line 1; since the mooncake moves completely to the egg washing area along the conveyor line 1 with the tray 11, the time required for the tray 11 to move from the scanning area to the egg washing area can be calculated through the conveying speed of the tray 11, and the specific egg washing position of the mooncake in the egg washing area can be calculated in combination with the scanning position of the mooncake on the conveyor line 1; and the three-dimensional specific position point of the brush 46 brushing the egg washing on the mooncake can be calculated through the specific egg washing position of the mooncake in the egg washing area and the height data of the mooncake itself, the three-dimensional specific position point of the brush 46 brushing the egg washing on the mooncake can be calculated, and the initial position point of the brush 46 to the three-dimensional specific position point of the brush 46 brushing the egg washing is the moving path of the brush 46, and the moving speed of the brush 46 is obtained by the ratio of the actual length of the moving path of the brush 46 to the required time.

[0058] In this embodiment, the tray 11 containing moon cakes is continuously conveyed by the conveyor line 1, and the conveying speed of the tray 11 on the conveyor line 1 is detected by the speed detection device 2 and the data is transmitted to the robot. When the tray 11 passes through the position detection mechanism 3, the position detection mechanism 3 can obtain the three-dimensional position information of the moon cakes by visually scanning the moon cakes on the tray 11 and transmit the data to the robot. The robot of the egg liquid brushing mechanism 4 obtains the moving path and moving speed of the brush 46 for brushing the moon cakes on the tray 11 with egg liquid by processing the conveying speed of the tray 11 and the three-dimensional position information of the moon cakes. The robot of the egg liquid brushing mechanism 4 controls the brush 46 to move accordingly according to the obtained moving path and moving speed so as to brush the moon cakes on the tray 11 with egg liquid. This can realize the fully mechanical and automated operation of brushing the moon cakes with egg liquid, has a good egg liquid coating effect, replaces the traditional manual coating, reduces unnecessary labor burden, is beneficial to improving the processing quality and efficiency of moon cakes, reduces the labor cost of the factory, and effectively solves the technical problems of poor egg liquid coating effect and low efficiency in the prior art.

[0059] Furthermore, in this embodiment, the position detection mechanism 3 is specifically a three-dimensional scanner. The three-dimensional scanner can be used to detect and analyze the shape and appearance data of objects or environments in the real world, and has the advantages of fast scanning speed, high precision, wide scanning range, non-contact and non-destructive, and simple and easy operation. The three-dimensional shape structure of the moon cake can be accurately obtained through the three-dimensional scanner, thereby obtaining the position data of the moon cake on the tray 11 and the height data of the moon cake itself, so that the egg brushing device can accurately brush the egg liquid on the moon cake, which is conducive to ensuring the egg brushing effect of the egg brushing device on the moon cake.

[0060] Further, in this embodiment, please refer to Figure 5-Figure 6 The speed detection device 2 includes an encoder 23, a connecting member 25 and a spring 24; the first end of the connecting member 25 is rotatably connected to the conveying bracket 21 of the conveying line 1, and the encoder 23 is installed on the second end of the connecting member 25; the first end of the spring 24 is connected to the middle of the connecting member 25, and the second end of the spring 24 is connected to the conveying bracket 21; the connecting member 25 is tilted, and the spring 24 is in a stretched state, so that the rotating wheel 231 of the encoder 23 is in rolling contact with the transmission shaft 22 of the conveying line 1. By utilizing the elastic effect of the spring 24, a downward force can be generated on the connecting member 25, so that the connecting member 25 and the encoder 23 both have a tendency to move downward, so that the rotating wheel 231 of the encoder 23 can always be in rolling contact with the transmission shaft 22, so that the encoder 23 can measure the rotation speed of the transmission shaft 22 through the rotating wheel 231 and then measure the conveying speed of the conveyor belt or conveyor chain (that is, the conveying speed of the pallet 11), and the measurement will not be affected by the jitter generated by the conveyor belt or conveyor chain during transportation, and has the advantages of small measurement error and accurate measurement results.

[0061] More specifically, a conveyor belt or a conveyor chain is installed on the conveying bracket 21, and the motor drives the transmission shaft 22 of the conveyor line 1 to rotate and drive the conveyor belt or the conveyor chain to rotate on the conveying bracket 21; two transmission shafts 22 are rotatably installed on the conveying bracket 21, and the output shaft of the motor is connected to any one of the transmission shafts 22; when a conveyor belt is used, corresponding transmission wheels are provided on the two transmission shafts 22, and the conveyor belt is arranged around the two transmission wheels so that the two transmission shafts 22 are transmission connected; when a transmission chain is used, corresponding gears are provided on the two transmission shafts 22, and the two transmission shafts 22 are transmission connected through two gears and a matching conveyor chain, and two conveyor chains can be provided, and the two conveyor chains are symmetrically arranged on both sides of the conveying bracket 21; the encoder 23 and the rotating wheel 231 are respectively located on both sides of the connecting member 25, and the rotating shaft of the encoder 23 passes through the connecting member 25 and is connected to the rotating wheel 231.

[0062] Among them, the speed detection device 2 also includes a fixed seat 27, the bottom end of the fixed seat 27 is connected to the conveying bracket 21, and the top end of the fixed seat 27 is rotatably connected to the first end of the connecting member 25; the middle part of the connecting member 25 is extended and connected with an extension member 26, the first end of the spring 24 is connected to the extension member 26, and the second end of the spring 24 is connected to the fixed seat 27; compared with the connecting member 25 being directly rotatably connected to the conveying bracket 21, the addition of the fixed seat 27 can not only serve as an intermediate component connecting the connecting member 25 and the conveying bracket 21, making it more convenient for the staff to install the rotatable connecting member 25, but also can effectively raise the height of the connecting member 25, so that the second end of the connecting member 25 can be closer to the transmission shaft 22 and the rotating wheel 231 of the encoder 23 can always be attached to the surface of the transmission shaft 22.

[0063] The middle part of the connecting member 25 is connected to an extension member 26, the first end of the spring 24 is connected to the extension member 26, and the second end of the spring 24 is connected to the fixing seat 27. By adding the extension member 26, the installation space of the spring 24 can be effectively expanded, and it is convenient for the staff to install the spring 24 between the connecting member 25 and the fixing seat 27.

[0064] Among them, the end of the extension member 26 away from the connecting member 25 is provided with a first bolt 261, the middle part of the fixing seat 27 is provided with a second bolt 271, and the two ends of the spring 24 are provided with fixing rings, and the two fixing rings are respectively sleeved on the first bolt 261 and the second bolt 271. This arrangement allows the two ends of the spring 24 to be detachably connected to the extension member 26 or the fixing seat 27. When the encoder 23 needs to be removed for maintenance and adjustment, the first bolt 261 and the second bolt 271 can be loosened, so that the spring 24 can be quickly removed from between the extension member 26 and the fixing seat 27, and the extension member 26, the connecting member 25 and the encoder 23 are no longer restricted by the spring 24, so that the staff can remove the encoder 23 from the conveying bracket 21. In addition, a plurality of screw holes in different positions can be provided on the fixing seat 27 and the extension member 26, so that it is convenient for the staff to select a reasonable screw hole according to the length of the spring 24 to install the first bolt 261 or the second bolt 271.

[0065] Among them, the two sides of the bottom end of the fixing seat 27 are connected with support members 272 extending in the horizontal direction, and the support members 272 are provided with screw holes, and the support members 272 are connected to the conveying bracket 21 through bolts and screw holes. The fixing seat 27 is vertically arranged, and the support members 272 extending from the bottom end of the fixing seat 27 can effectively increase the contact area between the fixing seat 27 and the conveying bracket 21, so that the fixing seat 27 can be better connected with the conveying bracket 21, which is conducive to increasing the stability of the fixing seat 27, thereby increasing the stability of the connecting member 25 and the encoder 23, and is conducive to ensuring the speed measurement accuracy of the encoder 23.

[0066] Furthermore, in this embodiment, the robot includes a control system, a mechanical arm 41, and a brush 46 clamping mechanism; the speed detection device 2 and the position detection mechanism 3 are both connected to the control system signal, the control system is connected to the mechanical arm 41, the brush 46 clamping mechanism is rotatably connected to the mechanical arm 41, and the brush 46 is fixedly mounted on the brush 46 clamping mechanism. The control system is used to control the mechanical arm 41 to drive the brush 46 clamping mechanism to drive the brush 46 to move accordingly according to the obtained moving path and moving speed of the brush 46 for brushing the moon cakes on the tray 11 with egg liquid, so as to brush the moon cakes on the tray 11 with egg liquid.

[0067] Further, in this embodiment, please refer to Figure 7-Figure 8The brush 46 clamping mechanism includes a clamping cylinder 42, which is rotatably connected to the free end of the mechanical arm 41; two claws 421 of the clamping cylinder 42 are provided with groove pads 43 facing each other; the two groove pads 43 are provided with clamping grooves 431 facing each other, and the two clamping grooves 431 together form a clamping space matching the brush 46. The groove pads 43 between the two claws 421 of the clamping cylinder 42 can effectively increase the friction between the clamping mechanism and the brush 46, so that the brush 46 is clamped more stably, and the two groove pads 43 are jointly provided with the clamping grooves 431 matching the brush 46, which can effectively prevent the brush 46 from loosening and shifting during the movement, further increase the stability of the clamping mechanism clamping the brush 46, and the clamping cylinder 42 and the brush 46 can be controlled by the mechanical arm 41 to move stably, which is conducive to ensuring the brush 46 brushing egg liquid effect on moon cakes.

[0068] More specifically, the groove pad 43 is made of POM material; the gripper cylinder 42 is specifically a flat gripper finger, which adopts two mutually symmetrical and parallel claw heads 421, and the two claw heads 421 are slidably mounted on the same guide rail on the gripper cylinder 42 through a slider. The two groove pads 43 clamp the brush 46 together, so that the brush 46 is arranged parallel to the claw head 421. This arrangement allows the brush 46 to maintain a vertical angle with the plane of the gripper cylinder, that is, when the gripper cylinder maintains a horizontal state, the brush 46 is in a vertical state. When in use, The brush 46 can be controlled to tilt and brush the egg liquid by rotating the mechanical arm 41; the shapes of the two clamping grooves 431 are designed according to the shape of the handle of the brush 46, and the two clamping grooves 431 together form a clamping space that matches the handle of the brush 46. Under the premise of matching the clamping space, the handle of the brush 46 can be subjected to squeezing forces from both sides through the two claws 421 of the clamping cylinder 42, thereby effectively preventing the brush 46 from loosening and shifting; the free end of the mechanical arm 41 is the terminal movable end of the mechanical arm 41.

[0069] The brush 46 clamping mechanism further includes an L-shaped plate 44, which includes a bottom plate (not shown) and a side plate connected vertically, the bottom plate being connected to the bottom of the clamping cylinder 42, the inner side of the side plate being connected to the side wall of the clamping cylinder 42, and the outer side of the side plate being rotatably connected to the mechanical arm 41. The L-shaped plate 44 can not only serve as a connecting portion between the clamping cylinder 42 and the mechanical arm 41, facilitating the clamping cylinder 42 to be fixed to the free end of the mechanical arm 41, but also the L-shaped plate 44 can be fixedly connected to the clamping cylinder 42 in two different directions, and can prevent the clamping cylinder 42 from loosening in two different directions at the same time, which is conducive to ensuring the stability of the connection between the L-shaped plate 44 and the clamping cylinder 42, so that the mechanical arm 41 can control the clamping cylinder 42 and the brush 46 to move stably.

[0070] The outer side of the side plate is provided with a rotating rod, the free end of the mechanical arm 41 is provided with a flange bearing 45 matching the rotating rod, and the side plate and the mechanical arm 41 are rotatably connected through the rotating rod and the flange bearing 45. The flange bearing 45 can be installed on the free end of the mechanical arm 41 through the screw hole on the flange bearing 45, and the L-shaped plate 44 and the clamping claw cylinder 42 can be rotatably connected with the mechanical arm 41 through the rotating rod and the flange bearing 45.

[0071] Among them, the bottom plate is connected to the clamping cylinder 42 by bolts, and the side plate is connected to the clamping cylinder 42 by bolts; the top surface of the side plate is flush with the top of the clamping cylinder 42 or the top surface of the side plate is lower than the top of the clamping cylinder 42. This not only leaves an appropriate position for the staff to tighten the bolts of the flange bearing 45, but also leaves an appropriate gap for the staff to add lubricant to the rotating rod, which is beneficial to ensure the smooth rotation between the rotating rod and the flange bearing 45.

[0072] Further, in this embodiment, please refer to Figure 9-13 , and also includes an egg liquid storage device 5. The control system controls the mechanical arm 41 to drive the brush 46 clamping mechanism to drive the brush 46 to move into the egg liquid storage device 5 to dip the brush into the egg liquid and then brush the moon cakes on the tray 11 with the egg liquid. Since the brush 46 must dip the brush into the egg liquid in the egg liquid storage device 5 before brushing the moon cakes on the tray 11 with the egg liquid each time, the process of the brush 46 dipping the brush into the egg liquid will also be included in the process of the brush 46 brushing the egg liquid, and the initial position of the brush 46 is located directly above the egg liquid storage device 5. The mechanical arm 41 controls the brush 46 clamping mechanism to drive the brush 46 to dip the brush into the egg liquid in the same movement mode. The time required for each dipping is basically the same, which facilitates the control system to calculate the total moving path and corresponding moving speed of the brush 46 dipping the brush into the egg liquid and brushing the egg liquid.

[0073] Further, in the present embodiment, the egg liquid storage device 5 comprises a liquid storage tank 51 and an egg liquid scraping rod 512, and the egg liquid scraping rod 512 is set in the liquid storage tank 51. When the brush 46 is clamped by the brush 46 clamping mechanism and extended into the liquid storage tank 51 to dip the egg liquid, the brush 46 can be scraped back and forth on the egg liquid scraping rod 512 for several times, which can effectively control the amount of egg liquid dipped on the brush 46, and at the same time avoid excessive egg liquid being spilled on the outer wall of the liquid storage tank 51. Similarly, since the brush 46 must scrape back and forth several times through the egg liquid scraping rod 512 after dipping the egg liquid in the egg liquid storage device 5 each time, the process of the brush 46 scraping the egg liquid will also be included in the process of the brush 46 brushing the egg liquid, and the mechanical arm 41 controls the brush 46 clamping mechanism to drive the brush 46 to scrape the egg liquid in the same movement mode, and the time required for each scraping of the egg liquid is basically the same, which facilitates the control system to calculate the total moving path and corresponding moving speed of the three processes of the brush 46 dipping the egg liquid-scraping the egg liquid-brushing the egg liquid.

[0074] More specifically, a liquid level sensor is installed in the liquid storage tank 51. The liquid level sensor is used to detect the liquid level height in the liquid storage tank 51. The liquid level sensor can be connected to the warning system. The liquid level sensor detects the liquid level height of the egg liquid in the liquid storage tank 51 in real time. When the liquid level of the egg liquid drops to a certain height, the liquid level sensor can output a signal to the warning system to remind the staff to replenish the egg liquid or replace it with new egg liquid in time.

[0075] There are at least two liquid storage tanks 51, and the two liquid storage tanks 51 are arranged in parallel on the support frame 53. When the robot controls the brush 46 to brush the moon cakes on the conveyor line 1 with egg liquid, the egg liquid in the liquid storage tank 51 will gradually decrease, and one liquid storage tank 51 cannot ensure that the egg liquid brushing can be carried out continuously; in order to ensure that the egg liquid brushing operation can be carried out continuously, when the liquid level sensor detects that the egg liquid level in the first liquid storage tank 51 is too low, the liquid level sensor can output a signal to the robot, so that the robot controls the brush 46 to switch to the second liquid storage tank 51 for egg liquid brushing, which not only facilitates the robot to control the brush 46 to continuously brush the moon cakes on the conveyor line 1 with egg liquid, but also leaves time for the staff to replenish or replace the first liquid storage tank 51 with new egg liquid in time.

[0076] Wherein, the scraping egg liquid rod 512 is arranged near the top edge of the liquid reservoir 51. Since the hairbrush 46 needs to scrape off the excess egg liquid through the scraping egg liquid rod 512, the liquid level of the egg liquid in the liquid reservoir 51 needs to be lower than the scraping egg liquid rod 512, and the liquid level of the egg liquid needs to keep a distance from the scraping egg liquid rod 512 to avoid the hairbrush 46 from getting stained with new egg liquid when scraping the egg liquid. The scraping egg liquid rod 512 is preferably arranged near the top edge of the liquid reservoir 51, which can not only ensure that the hairbrush 46 can normally use the scraping egg liquid rod 512 to scrape the egg liquid, but also ensure that the liquid reservoir 51 can have sufficient space to store the egg liquid, which can effectively reduce the number of times of replenishing or replacing the egg liquid.

[0077] There are at least two egg scraping rods 512, which are arranged in parallel on the liquid storage tank 51. After long-term work, the egg scraping rods 512 are easily stained with some egg liquid that cannot drip back into the liquid storage tank 51. This part of the egg liquid is easily affected by the external temperature and solidifies and sticks to the egg scraping rods 512. In order to reduce the brush 46 from being stained with solidified egg liquid, multiple egg scraping rods 512 can be provided, and the robot can clamp the brush 46 and move it to another egg scraping rod 512 for egg scraping at regular intervals.

[0078] The egg scraping rod 512 is detachably connected to the liquid storage tank 51. The egg scraping rod 512 and the liquid storage tank 51 can be connected by snaps. A snap slot matching the egg scraping rod 512 is provided on the two side walls of the liquid storage tank 51. The egg scraping rod 512 is installed on the liquid storage tank 51 by snapping the two ends of the egg scraping rod 512 into the snap slots on both sides. The two ends of the egg scraping rod 512 can also be fixed on the liquid storage tank 51 by bolts. After long-term work, the egg scraping rod 512 is easily stained with some egg liquid that cannot drip back into the liquid storage tank 51. This part of the egg liquid is easily affected by the external temperature and solidified and adhered to the egg scraping rod 512. The detachable egg scraping rod 512 can facilitate the staff to remove the egg scraping rod 512 from the liquid storage tank 51, so that the staff can clean the egg liquid on the egg scraping rod 512.

[0079] The surface of the egg scraper rod 512 is coated with an anti-sticking layer. The anti-sticking layer can prevent the egg liquid from being easily stained on the egg scraper rod 512, which can not only reduce the egg liquid staying on the egg scraper rod 512, ensuring that the brush 46 can scrape the egg liquid normally, but also make the excess egg liquid on the egg scraper rod 512 flow back into the liquid storage tank 51, avoiding the egg liquid solidification and sticking on the egg scraper rod 512 to cause egg liquid waste.

[0080] Furthermore, in this embodiment, the egg liquid storage device 5 also includes a cooling tank 52, and the liquid storage tank 51 is placed in the cooling tank 52; the cooling tank 52 is provided with a cooling assembly, and the cooling assembly includes a heat conducting plate 56, and the heat conducting plate 56 is provided with a water channel inside. The heat conducting plate 56 is provided with a cold water inlet and a cold water outlet, and the heat conducting plate 56 is connected to a water-cooled refrigerator through the cold water inlet and the cold water outlet; the heat conducting plate 56 is connected to the cooling tank 52 by heat conduction. Through the cold water inlet and the cold water outlet, flowing cold water can be continuously introduced into the heat conducting plate 56, so that the heat conducting plate 56 can continuously take away the heat of the cooling tank 52, and the cooling tank 52 can be cooled and kept at a constant temperature, so that the liquid storage tank 51 located in the cooling tank 52 is always in a constant temperature environment, which has a preservation effect on the egg liquid in the liquid storage tank 51, and is conducive to maintaining the freshness of the egg liquid.

[0081] More specifically, the heat conducting plate 56 can be made of an aluminum plate. Using an aluminum plate as the heat conducting plate 56 has the advantages of high thermal conductivity and low cost. Of course, the heat conducting plate 56 can also be made of other heat conducting materials, as long as it is ensured that the heat conducting plate 56 and the refrigeration tank 52 can be connected by heat conduction for heat exchange. A single refrigeration tank 52 can be equipped with two or more heat conducting plates 56, and the two heat conducting plates 56 are evenly distributed at the bottom of the refrigeration tank 52. A temperature sensor is installed in the liquid storage tank 51. The temperature in the liquid storage tank 51 can be detected in real time by the temperature sensor, so that the staff can adjust the heat conducting plate 56 to have a suitable water inlet speed to adjust the effect of heat conduction and refrigeration, so that the liquid storage tank 51 can be in a suitable temperature environment, which is conducive to ensuring the freshness of the egg liquid in the liquid storage tank 51.

[0082] The egg liquid storage device 5 is installed on the support frame 53. In order to facilitate the mechanical arm 41 to control the brush 46 clamping mechanism to drive the brush 46 to dip the egg liquid, the support frame 53 can be installed on the second bracket. The support frame 53 is provided with a mounting base. The drawer 531 is arranged on the mounting base through the drawer guide rail 532. The liquid storage tank 51, the cooling tank 52 and the heat conducting plate 56 are all arranged on the drawer 531. By pulling the drawer 531 out of the mounting base along the direction of the drawer guide rail 532, it is convenient for the staff to remove the liquid storage tank 51, so as to replenish the egg liquid in the liquid storage tank 51 or replace it with new egg liquid.

[0083] Among them, a detection sensor 54 for detecting whether the drawer 531 is pulled out is provided on the support frame 53. The detection sensor 54 can be connected to a warning system, and the warning system is provided with a warning light. When the detection sensor 54 detects that the drawer 531 is pulled out, the detection sensor 54 outputs a signal to the warning system, and the warning system issues an indication that the warning light flashes at intervals. The flashing of the warning light can remind the staff that the drawer 531 has been pulled out. When the detection sensor 54 detects that the drawer 531 is pushed back to the original position, the detection sensor 54 outputs a signal to the warning system, and the warning system issues an indication that the warning light is always on to remind the staff that the drawer 531 has returned to its original position; the setting of the detection sensor 54 can prevent the staff from pulling out the drawer 531 by mistake, which affects the normal egg washing.

[0084] The drawer 531 is provided with a first groove 533; the top periphery of the cooling tank 52 extends outward to form a second retaining ring 521, and the liquid storage tank 51 contacts and abuts against the top of the first groove 533 through the second retaining ring 521; the top periphery of the liquid storage tank 51 extends outward to form a first retaining ring 511, and the liquid storage tank 51 contacts and abuts against the top of the second retaining ring 521 through the first retaining ring 511. The first retaining ring 511 can not only realize the placement of the liquid storage tank 51 in the cooling tank 52, but also can be directly lifted to make the liquid storage tank 51 quickly detach from the cooling tank 52, so that the staff can quickly replenish or replace the egg liquid for the liquid storage tank 51. The second retaining ring 521 can not only realize the placement of the cooling tank 52 in the first groove 533 of the drawer 531, but also can be directly lifted to make the cooling tank 52 quickly detach from the first groove 533, so that the staff can clean or repair the cooling tank 52.

[0085] Among them, a fixing member 55 is provided at the bottom of the first groove 533, and a first clamping member 551 is convexly provided at the first end of the fixing member 55; a second clamping member 522 is provided at the bottom of the cooling groove 52, and a corresponding mounting hole is provided at the second end of the fixing member 55 and the second clamping member 522; the fixing member 55 and the second clamping member 522 are connected by bolts and the mounting holes, so that the heat conducting plate 56 is installed between the first clamping member 551 and the second clamping member 522. By bolting the fixing member 55 and the second clamping member 522, not only can the heat conducting plate 56 and the cooling groove 52 be quickly fixed to the first groove 533 at the same time, which is convenient for the staff to install the cooling groove 52 and the heat conducting plate 56, but also it can ensure that the bottom surface of the cooling groove 52 and the top surface of the heat conducting plate 56 can be in thermal contact, and ensure that the cooling groove 52 and the heat conducting plate 56 can be fully thermally conductive and heat exchanged. The fixing member 55 can be in the shape of a long strip, and a first clip 551 is protruding upward from the top of the first end of the fixing member 55. The height of the first clip 551 and the height of the second clip 522 are both equal to the thickness of the heat conducting plate 56, and the distance between the first clip 551 and the second clip 522 is slightly smaller than the width of the heat conducting plate 56, so that the heat conducting plate 56 can be conveniently snapped between the first clip 551 and the second clip 522.

[0086] Further, in this embodiment, please refer to Fig.14, and also includes a correction device 6 for correcting the position of the tray 11 on the conveyor line 1. The correction device 6 includes a correction mechanism 61 and an inductive sensor 62; the correction mechanism 61 is provided on both sides of the conveyor line 1, and the correction mechanism 61 includes a telescopic cylinder 611 and a push plate 612, and the push plate 612 is connected to the piston rod of the telescopic cylinder 611; the two push plates 612 are arranged in parallel and a correction area is formed between the two push plates 612, and the inductive sensor 62 is used to detect whether the inductive tray 11 reaches the correction area. When the tray 11 on the conveyor line 1 flows through the inductive sensor 62, the inductive sensor 62 can be triggered, and the inductive sensor 62 can give a start signal to the telescopic cylinder 611. The telescopic cylinders 611 on both sides of the conveyor line 1 push the push plates 612 at the same time, so that the tray 11 is subjected to clamping forces from both sides, so that the tray 11 can keep moving along the middle position of the conveyor line 1, so as to achieve the purpose of correcting the position of the tray 11 on the conveyor line 1 during transportation, which is conducive to the positioning and processing of the moon cakes on the tray 11 at the subsequent operation point.

[0087] More specifically, the telescopic cylinders 611 on both sides are of the same type, and the correction mechanisms 61 on both sides are symmetrically arranged, so that the push plates 612 on both sides are symmetrically arranged about the center line of the conveyor line 1; the induction sensor 62 is connected to the control system of the correction device 6, and the control system of the correction device 6 controls the synchronous driving of the correction mechanisms 61 on both sides. The induction sensor 62 can be a photoelectric sensor. When in use, when a tray 11 enters the correction area and flows through the induction sensor 62, the tray 11 will block the induction sensor 62 from receiving the signal of the emission source. At this time, the induction sensor 62 can output a control signal to the control system, and then the control system synchronously starts the correction mechanisms 61 on both sides so that the push plates 612 on both sides can push the tray 11 to the middle position of the conveyor line 1, and then the telescopic cylinders 611 and the push plates 612 on both sides return to their original positions. When the next tray 11 enters the correction area and flows through the induction sensor 62, the above steps are repeated to realize the correction of the positions of each tray 11 on the conveyor line 1, so that each tray 11 is neatly arranged on the conveyor line 1.

[0088] Among them, at least two correction mechanisms 61 are distributed on the same side of the conveyor line 1, and the push plate 612 is connected to the fixed plate 613, the fixed plate 613 is vertically connected to the push plate 612, and the fixed plate 613 is connected to the piston rod by bolts. The setting of the fixed plate 613 can provide a position for the push plate 612 to connect with the piston rod, and there is no need to open holes and set bolts on the surface of the push plate 612, which is conducive to ensuring the flatness of the surface of the push plate 612, and facilitates the push plate 612 to better push the tray 11 so that the tray 11 is arranged neatly on the conveyor line 1; the correction mechanism 61 on the same side can use the same push plate 612, that is, the piston rods of the telescopic cylinder 611 on the same side are all connected to the same push plate 612, which can effectively increase the surface area of ​​the push plate 612, thereby effectively increasing the contact area between the push plate 612 and the tray 11 and the limit range of the push plate 612 on the tray 11, and by synchronously starting each correction mechanism 61, each tray 11 can be quickly arranged neatly on the conveyor line 1.

[0089] The inductive sensor 62 is arranged behind the correction mechanism 61 along the conveying direction of the conveyor line 1, and the distance between the inductive sensor 62 and the last correction mechanism 61 along the conveying direction is 10 mm to 15 mm. This arrangement allows the pallet 11 to pass through the correction area first and then flow through the inductive sensor 62. When the pallet 11 flows through the inductive sensor 62 and is detected, it means that the pallet 11 has completely entered the correction area. At this time, the inductive sensor 62 can send a start signal to the telescopic cylinder 611 through the control system, so that the telescopic cylinder 611 moves the push plate 612 to correct the position of the pallet 11 in the correction area.

[0090] The telescopic cylinder 611 is installed on the bracket of the conveyor line 1 through the mounting seat 63; the telescopic cylinder 611 is provided with a mounting seat 63, and the mounting seat 63 includes a first mounting plate 631 and a second mounting plate 632 connected vertically, the first mounting plate 631 is connected to the telescopic cylinder 611 through bolts, and the second mounting plate 632 is connected to the bracket of the conveyor line 1. The telescopic cylinder 611 can be stably installed on the bracket of the conveyor line 1 through the L-shaped mounting seat 63, which is conducive to ensuring that the telescopic cylinder 611 itself will not move when it is started, and ensuring that the push plate 612 can perform the normal correction operation on the pallet 11. The second mounting plate 632 can be fixedly connected to the bracket of the conveyor line 1 by welding, and the second mounting plate 632 can also be fixedly connected to the bracket of the conveyor line 1 by bolts.

[0091] The specific working process of this embodiment:

[0092] (1) The tray 11 with moon cakes is placed in the loading area of ​​the conveyor line 1, sufficient egg liquid is added to the liquid storage tank 51, and the water-cooled refrigerator is started to pass cold water to the heat conduction plate 56, so that the liquid storage tank 51 can be kept in a constant temperature environment to keep the egg liquid fresh;

[0093] (2) The conveyor line 1 is started to continuously transport the trays 11 with moon cakes one by one. The encoder 23 can measure the rotation speed of the transmission shaft 22 through the rotating wheel 231 and the encoder 23 transmits the measured rotation speed of the transmission shaft 22 to the robot. The robot can obtain the conveying speed of the tray 11 by processing the rotation speed data of the transmission shaft 22;

[0094] (3) When the pallet 11 flows through the sensor, the inductive sensor 62 can be triggered, and the inductive sensor 62 can transmit a signal to the control system of the correction device 6. The control system of the correction device 6 can control the telescopic cylinders 611 on both sides of the conveyor line 1 to simultaneously push out the push plates 612, so that the pallet 11 is subjected to clamping forces from both sides, so that the pallet 11 can maintain the movement along the middle position of the conveyor line 1;

[0095] (4) When the tray 11 enters the scanning area, the 3D scanner can obtain the 3D position information of the moon cake (specifically including the position data of the moon cake on the tray 11 and the height data of the moon cake itself) through 3D visual scanning, and the 3D scanner transmits the 3D position information of the moon cake to the robot;

[0096] (5) The robot calculates and processes the three-dimensional position information of the moon cakes, the conveying speed of the tray 11, and other data information to obtain the moving path and moving speed of the brush 46 for brushing the moon cakes on the tray 11 with egg liquid;

[0097] (6) The robot starts the mechanical arm 41 by using the obtained moving path and moving speed to control the brush 46 clamping mechanism to drive the brush 46 to move accordingly. After being dipped in egg liquid and scraped with egg liquid, the brush 46 can brush the moon cakes on the tray 11 that moves to the egg liquid brushing area with egg liquid.

[0098] (7) The mooncakes on each tray 11 on the conveyor line 1 can be brushed with egg liquid by repeating steps (3) to (6), thereby realizing a fully mechanized and automated operation of brushing the mooncakes with egg liquid.

[0099] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0100] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An egg brushing device, characterized in that: It includes a conveying mechanism, a position detection mechanism and an egg liquid brushing mechanism; The conveying mechanism includes a conveying line and a speed detection device, and the conveying line is used to convey the tray with moon cakes placed thereon; The speed detection device is used to detect the conveying speed of the conveying line to the pallet; The position detection mechanism is used to visually scan the mooncakes on the tray and obtain the three-dimensional position information of the mooncakes; The egg liquid brushing mechanism comprises a robot and a brush, wherein the brush is arranged at the movable end of the robot, and the speed detection device and the position detection mechanism are both connected to the robot signal; The robot is used to obtain a moving path and a moving speed of the brush for brushing the moon cakes on the tray with egg liquid according to the conveying speed of the tray and the three-dimensional position information of the moon cakes through data processing, and the robot controls the brush to move accordingly according to the obtained moving path and moving speed so as to brush the moon cakes on the tray with egg liquid; It also includes a correction device for correcting the position of the tray on the conveyor line, the position detection mechanism is arranged between the correction device and the egg liquid brushing mechanism, and the tray on the conveyor line passes through the correction device, the position detection mechanism and the egg liquid brushing mechanism in sequence; The three-dimensional position information of the moon cake includes the position data of the moon cake on the tray and the height data of the moon cake itself.

2. The egg liquid brushing equipment according to claim 1, characterized in that: The robot comprises a control system, a mechanical arm, and a brush clamping mechanism; The speed detection device and the position detection mechanism are both connected to the control system signal, the control system is connected to the mechanical arm, and the brush clamping mechanism is rotationally connected to the mechanical arm.

3. The egg liquid brushing device according to claim 2 is characterized in that: It also includes an egg liquid storage device, and the control system controls the mechanical arm to drive the brush clamping mechanism to drive the brush to move into the egg liquid storage device to dip the brush into the egg liquid and then brush the moon cakes on the tray with the egg liquid.

4. The egg liquid brushing device according to claim 3 is characterized in that: The egg liquid storage device comprises a liquid storage tank and an egg liquid scraping rod, and the egg liquid scraping rod is mounted in the liquid storage tank.

5. The egg liquid brushing device according to claim 4, characterized in that: The egg liquid storage device also includes a refrigeration tank, and the liquid storage tank is placed in the refrigeration tank; The refrigeration tank is provided with a refrigeration component, and the refrigeration component includes a heat conduction plate, a water channel is provided inside the heat conduction plate, and the heat conduction plate is provided with a cold water inlet and a cold water outlet; the heat conduction plate is thermally connected to the refrigeration tank.

6. The egg liquid brushing device according to claim 2, characterized in that: The brush clamping mechanism comprises a clamping claw cylinder, and the clamping claw cylinder is rotatably connected to the free end of the mechanical arm; The two claws of the clamping claw cylinder are provided with grooved pads facing each other; The two groove-shaped pads are provided with clamping grooves facing each other, and the two clamping grooves together form a clamping space matching the brush.

7. The egg liquid brushing device according to claim 1, characterized in that: The speed detection device comprises an encoder, a connecting piece and a spring; The first end of the connecting member is rotatably connected to the conveying support of the conveying line, and the encoder is installed on the second end of the connecting member; The first end of the spring is connected to the middle part of the connecting member, and the second end of the spring is connected to the delivery bracket; The connecting piece is arranged obliquely, and the spring is in a stretched state, so that the rotating wheel of the encoder is in rolling contact with the transmission shaft of the conveyor line.

8. The egg liquid brushing device according to claim 7, characterized in that: The correction device includes a correction mechanism and an induction sensor; The correction mechanism is provided on both sides of the conveyor line, and the correction mechanism comprises a telescopic cylinder and a push plate, and the push plate is connected to the piston rod of the telescopic cylinder; The two push plates are arranged in parallel and a correction area is formed between the two push plates. The induction sensor is used to detect whether the induction tray reaches the correction area.

9. The egg liquid brushing device according to any one of claims 1 to 8, characterized in that: The position detection mechanism is specifically a three-dimensional scanner.

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