Automatic egg tart forming and preparation equipment and preparation process thereof

Abstract

The present invention belongs to the field of automation technology, and discloses an automatic egg tart forming and preparation equipment and a preparation process thereof, the equipment comprising: an automatic egg tart shell forming module, which can accurately place the prefabricated egg tart shell in the mold groove through an automated manipulator, and ensure that the egg tart shell and the mold are closely fitted through vacuum adsorption; a high-precision filling module, which controls the amount of filling injected each time through a flow regulating valve to ensure that the filling amount of the egg tart filling is consistent, and the syringe nozzle design prevents the filling from dripping and avoids filling contamination; a transmission system, which accurately detects the position of each egg tart shell through a sensor, ensures that it is accurately transmitted to the filling filling module after forming, and is transmitted to the next process after filling; a detection and feedback module, which monitors the placement accuracy of the egg tart shell and the filling amount of the filling, automatically removes unqualified products, and adjusts system parameters through a feedback mechanism; an integrated control system, which adjusts parameters such as the filling amount, the thickness of the egg tart shell, and the production speed in real time according to production needs, and realizes a fully automated and efficient egg tart production process. The present invention improves the automation level and production efficiency of production through the collaborative work of each module.

Description

Technical Field

[0001] The invention belongs to but is not limited to the field of automation technology, and in particular relates to an automatic egg tart forming and preparing device and a preparation process thereof. Background Art

[0002] In the current egg tart production process, although there are some automated egg tart making equipment on the market, most of them have problems of low production efficiency and low yield rate, especially in the process of egg tart crust forming and egg tart filling, problems such as uneven filling, damaged egg tart crust or inconsistent shape are prone to occur. The existing technology usually relies on manual or semi-automatic operation, resulting in unstable output and is not suitable for large-scale production.

[0003] The existing equipment has the following urgent problems in the process of egg tart crust forming and filling:

[0004] 1. The egg tart crust is not formed accurately enough: the thickness and shape of the egg tart crust are uneven, resulting in inconsistent appearance of the finished product.

[0005] 2. Uneven filling: Insufficient filling, overflow or bubbles are likely to occur during the filling process, affecting the quality of the finished product.

[0006] 3. Inefficiency: Existing technologies cannot meet the needs of efficient and automated production, making it difficult to achieve large-scale production. Summary of the invention

[0007] In view of the problems existing in the prior art, the present invention provides an automatic egg tart forming and preparing device and a preparation process thereof.

[0008] The present invention is achieved by providing an automatic egg tart forming and preparing device, the device comprising:

[0009] The automatic egg tart crust forming module includes an adjustable precision mold and a vacuum adsorption device. The precision mold has an adjustable design and can adjust the mold size according to egg tart crusts of different specifications. The prefabricated egg tart crust is placed in the mold groove by an automated manipulator. The vacuum adsorption device ensures that the egg tart crust fits tightly with the mold to achieve a uniform shape and thickness of the egg tart crust.

[0010] A high-precision filling module, including a high-precision filling pump, a quantitative syringe and a flow regulating valve. The filling pump controls the filling injection amount through the flow regulating valve to ensure that the filling amount is consistent each time. The syringe nozzle is designed to prevent filling dripping and avoid filling contamination;

[0011] The conveying system, including a conveyor belt and a multi-point positioning device, uses sensors to accurately detect the position of each egg tart crust, so that the egg tart crust can be accurately conveyed to the filling module after forming, and then conveyed to the next process after filling;

[0012] The detection and feedback module includes an image recognition sensor and a quality detection device to monitor the placement accuracy of the egg tart crust and the filling amount in real time, automatically reject unqualified products, and adjust system parameters through a feedback mechanism to ensure product quality;

[0013] The integrated control system includes a central controller, which is used to coordinate the operating steps of the automatic egg tart crust forming module, high-precision filling module, conveying system and detection and feedback module, and adjust the filling quantity, egg tart crust thickness, production speed and other parameters in real time according to production needs to achieve full automation and efficiency of egg tart production.

[0014] Furthermore, the precision mold of the automatic egg tart crust forming module has an adjustable design, and the mold size can be manually or automatically adjusted according to egg tart crusts of different specifications, ensuring that egg tart crusts of different sizes can achieve uniform thickness and edge accuracy during the forming process;

[0015] The precision mold of the automatic egg tart crust forming module is connected to the manipulator through a positional relationship, and the manipulator can be flexibly adjusted according to set parameters to keep the position accuracy of the egg tart crust stable during the placement process.

[0016] Furthermore, the syringe nozzle of the high-precision filling module is designed to be a drip-proof structure, specifically by adding an automatic closing valve or other mechanical structure at the end of the nozzle to ensure that no excess filling drips after each filling, thereby avoiding contamination of the egg tart surface and waste of equipment; the filling pump and the quantitative syringe of the high-precision filling module are connected to achieve the transmission and control of the filling, and the flow regulating valve is arranged between the filling pump and the syringe to control the filling injection amount in real time.

[0017] Furthermore, the conveyor belt material of the conveying system is made of high-temperature heat-resistant material, which can adapt to high-temperature processes in different production environments. The conveyor belt is integrated with a multi-point positioning sensor to ensure that the egg tart crust and the filled egg tarts can be operated in each step at the accurate position to avoid misalignment and errors in production; the conveyor belt and the multi-point positioning device of the conveying system are fixedly connected in an assembly relationship, and the sensor on the multi-point positioning device is used to detect the position of each egg tart crust and work in conjunction with the conveyor belt to ensure that the egg tart crust does not deviate from the predetermined trajectory during the conveyance process.

[0018] Furthermore, the image recognition sensor in the detection and feedback module can identify whether the shape and edge of each egg tart crust meet the standards through high-resolution imaging technology, monitor the filling amount and position of the filling, and adjust the molding and filling operations in time through the control system to ensure the consistency of the product during the production process;

[0019] The integrated control system has multi-task coordination capability, can simultaneously control the operation sequence between the forming module, the filling module and the conveying module, and coordinate the working rhythm of each module by real-time monitoring of the information fed back by the sensor, avoid working conflicts between different modules, and achieve efficient and stable production;

[0020] The integrated control system has an adaptive adjustment function. By analyzing the real-time monitoring data of egg tart crust forming and filling, it automatically adjusts the relevant parameters in each step, such as the forming pressure of the egg tart crust, the flow rate and amount of filling injection, thereby improving the production efficiency and yield of the equipment.

[0021] Furthermore, the automatic forming module and the high-precision filling module are connected via a synchronous control sensor to ensure that the forming and filling processes of each tart crust are carried out synchronously. During the filling process, the precise positioning of the tart crust is fed back by the sensor to avoid filling deviation or uneven filling.

[0022] Another object of the present invention is to provide a preparation process of an automatic egg tart forming preparation device based on the automatic egg tart forming preparation device, the process specifically comprising:

[0023] S1: Egg tart crust forming: The automatic feeding system transfers the prefabricated egg tart crust to the precision mold, the vacuum adsorption device fixes the egg tart crust in the mold groove, and the precision mold presses the egg tart crust to ensure the uniformity of the thickness and shape of the egg tart crust;

[0024] S2: Filling: After the egg tart crust is formed, it is automatically transported to the filling module through a conveyor belt; a high-precision filling pump injects the filling into the egg tart crust evenly through a quantitative syringe according to the set formula and amount; a flow control valve controls the flow rate and injection amount of the filling in real time to ensure even distribution of the filling;

[0025] S3: Detection and adjustment: After the filling is completed, the image recognition system detects the edge shape of the egg tart crust and the filling condition of the filling in real time; if it is detected that the shape does not meet the standard or the filling is uneven, the feedback system automatically adjusts the injection volume of the filling syringe or the molding pressure of the egg tart crust;

[0026] S4: Automatic transfer and collection: After being formed and filled, the egg tarts are automatically transferred to the next process, such as baking or packaging. The positioning device ensures smooth product transfer and quality monitoring is carried out at each production step.

[0027] Further, the S1 specifically includes:

[0028] Feeding: The automatic feeding system delivers the prefabricated egg tart crust materials to the precision mold; the speed and interval time of the feeding system can be adjusted according to production needs, generally set to one egg tart crust every 2 seconds;

[0029] Positioning: The egg tart crust is fixed in the mold groove through a vacuum adsorption device to ensure that the egg tart crust will not move during the pressing process; the vacuum adsorption pressure is generally set at 0.6-0.8MPa to stabilize the position of the egg tart crust;

[0030] Pressing: The precision mold applies uniform pressure on the egg tart crust to make it meet the required thickness and shape; the mold pressure is usually set at 2-3MPa and the pressing time is 1-1.5 seconds to ensure uniform thickness and smooth edges;

[0031] Thickness control: The thickness of the egg tart crust after forming is controlled at 1.5-2mm to ensure the taste and texture are consistent after baking;

[0032] The S2 specifically includes:

[0033] Conveying and positioning: The formed egg tart crust is transported to the filling module through a conveyor belt, and the positioning accuracy is controlled within ±0.5mm to ensure that the filling can be accurately filled into the egg tart crust;

[0034] Filling pump control: The high-precision filling pump evenly injects the filling into the egg tart crust according to the preset formula; the injection volume of the filling pump is 20-25ml, which is adjusted according to the size of the egg tart, and the filling process is controlled within 1 second;

[0035] Flow rate and injection volume adjustment: The flow rate of the filling is accurately controlled by the flow regulating valve to ensure uniform injection; the flow rate is generally set to 10-12ml / s, and the injection volume can be adjusted according to the specifications of the egg tarts. The anti-drip design of the syringe ensures that the filling is injected cleanly and neatly.

[0036] Further, the S3 specifically includes:

[0037] Real-time image recognition detection: The image recognition system uses a high-definition camera to monitor the shape of the egg tart crust and the filling status of the filling in real time, with an image acquisition frequency of 30 frames per second;

[0038] Edge and filling detection: After filling is completed, the detection system detects the edge shape of the egg tart crust and the surface of the filling; if it detects that the shape or filling is not up to standard, such as edge cracks or filling deviation exceeding ±1mm, the system will sound an alarm and automatically adjust;

[0039] Feedback adjustment: The system adjusts the injection volume or molding pressure of the syringe in real time, and the specific parameters are automatically adapted according to the test results; for example, if the filling volume is too small, the system will increase the injection volume by 2-3ml to meet the standard;

[0040] The S4 specifically includes:

[0041] Product conveying: The formed and filled egg tarts are conveyed to the next process, such as baking or packaging, via a high-temperature resistant conveyor belt; the conveying speed is set at 0.2m / s to ensure smooth transmission;

[0042] Positioning and quality monitoring: The conveying system is equipped with a position sensor to monitor the transmission of the egg tarts in real time; the positioning device ensures that each egg tart is in the correct position before baking or packaging, with the deviation controlled within ±0.5mm;

[0043] Rejection of defective products: The inspection module continues to monitor quality during the transmission process. If unqualified products are detected, they are automatically rejected and the defect information is recorded. The rejection process is accurate to milliseconds to avoid affecting other egg tarts.

[0044] Another object of the present invention is to provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the preparation process of the automatic egg tart forming preparation equipment.

[0045] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0046] 1. Improve production efficiency: Through the automated egg tart crust forming and filling process, the production efficiency is significantly improved, which is suitable for large-scale production and reduces the time and cost of manual operation.

[0047] 2. Consistency of finished product quality: The system ensures the consistency of the shape and filling amount of each egg tart crust through precision molds and high-precision filling pumps, avoiding the differences in traditional manual production and improving the appearance and taste quality of the product.

[0048] 3. Automatic detection and feedback: The real-time image recognition and detection system ensures the accuracy of each step in the production process, reduces the occurrence rate of unqualified products, and can automatically adjust parameters during the production process to further improve production stability and yield rate.

[0049] 4. Reduce labor costs and errors: The system greatly reduces the number of manual interventions, reduces errors and inconsistencies in manual operations, and is suitable for efficient and precise industrial production. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a structural diagram of an automatic egg tart forming and preparing device provided by an embodiment of the present invention;

[0051] Figure 2 It is a process flow chart of the automatic egg tart forming equipment provided by an embodiment of the present invention;

[0052] Figure 3 is a three-dimensional diagram of an automatic egg tart forming and preparing device provided by an embodiment of the present invention;

[0053] Figure 4 It is a front view of an automatic egg tart forming and preparing device provided by an embodiment of the present invention;

[0054] Figure 5 is a schematic diagram of a high-precision filling pump provided by an embodiment of the present invention;

[0055] Figure 6 is a schematic diagram of a high-precision filling pump provided by an embodiment of the present invention;

[0056] In the figure: 1. Precision mold; 2. Vacuum adsorption device; 3. High-precision filling pump; 4. Quantitative syringe; 5. Conveyor belt; 6. Multi-point positioning device; 7. Image recognition sensor; 8. High-precision filling pump; 9. Central controller; 10. Robot. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0058] like Figure 1 As shown, an embodiment of the present invention provides an automatic egg tart forming and preparing device, the device comprising:

[0059] The automatic egg tart crust forming module comprises an adjustable precision mold 1 and a vacuum adsorption device 2. The precision mold 1 has an adjustable design and can adjust the mold size according to egg tart crusts of different specifications. The prefabricated egg tart crust is placed in the mold groove by an automated manipulator 10. The vacuum adsorption device 2 ensures that the egg tart crust fits tightly with the mold to achieve a uniform shape and thickness of the egg tart crust.

[0060] A high-precision filling module includes a high-precision filling pump 3, a quantitative syringe 4 and a flow regulating valve. The filling pump controls the filling injection amount through the flow regulating valve to ensure that the filling amount is consistent each time. The syringe nozzle is designed to prevent the filling from dripping and avoid filling contamination;

[0061] The conveying system includes a conveyor belt 5 and a multi-point positioning device 6, which accurately detects the position of each egg tart crust through a sensor, so that the egg tart crust is accurately conveyed to the filling module after being formed, and then conveyed to the next process after being filled;

[0062] The detection and feedback module includes an image recognition sensor 7 and a quality detection device 8, which monitors the placement accuracy of the egg tart crust and the filling amount in real time, automatically removes unqualified products, and adjusts system parameters through a feedback mechanism to ensure product quality;

[0063] The integrated control system includes a central controller 9, which is used to coordinate the operating steps of the automatic egg tart crust forming module, the high-precision stuffing filling module, the conveying system and the detection and feedback module, and adjust the filling quantity, egg tart crust thickness, production speed and other parameters in real time according to production needs, so as to realize full automation and high efficiency of egg tart production.

[0064] The precision mold 1 of the automatic egg tart crust forming module has an adjustable design, and the mold size can be manually or automatically adjusted according to egg tart crusts of different specifications, ensuring that egg tart crusts of different sizes can achieve uniform thickness and edge accuracy during the forming process;

[0065] The precision mold 1 of the automatic egg tart crust forming module is connected to the manipulator 10 through a positional relationship. The manipulator 10 can be flexibly adjusted according to set parameters to keep the position accuracy of the egg tart crust stable during the placement process.

[0066] The syringe nozzle of the high-precision filling module is designed to be a drip-proof structure, which is specifically designed by adding an automatic closing valve or other mechanical structure at the end of the nozzle to ensure that no excess filling drips after each filling, thereby avoiding contamination of the egg tart surface and waste of equipment; the filling pump and the quantitative syringe 4 of the high-precision filling module are connected to realize the transmission and control of the filling, and the flow regulating valve is arranged between the filling pump and the syringe to control the filling injection amount in real time.

[0067] The conveyor belt 5 of the conveying system is made of high-temperature heat-resistant material, which can adapt to high-temperature processes in different production environments. The conveyor belt 5 is integrated with a multi-point positioning sensor to ensure that the egg tart crust and the filled egg tarts can be operated in each step at the exact position to avoid misalignment and errors in production; the conveyor belt 5 and the multi-point positioning device 6 of the conveying system are fixedly connected in an assembly relationship, and the sensor on the multi-point positioning device 6 is used to detect the position of each egg tart crust and work in conjunction with the conveyor belt 5 to ensure that the egg tart crust does not deviate from the predetermined trajectory during the conveyance process.

[0068] The image recognition sensor 7 in the detection and feedback module can identify whether the shape and edge of each egg tart crust meet the standards through high-resolution imaging technology, and monitor the filling amount and position of the filling at the same time, and adjust the molding and filling operations in time through the control system to ensure the consistency of the product during the production process;

[0069] The integrated control system has multi-task coordination capability, can simultaneously control the operation sequence between the forming module, the filling module and the conveying module, and coordinate the working rhythm of each module by real-time monitoring of the information fed back by the sensor, avoid working conflicts between different modules, and achieve efficient and stable production;

[0070] The integrated control system has an adaptive adjustment function. By analyzing the real-time monitoring data of egg tart crust forming and filling, it automatically adjusts the relevant parameters in each step, such as the forming pressure of the egg tart crust, the flow rate and amount of filling injection, thereby improving the production efficiency and yield of the equipment.

[0071] The automatic forming module and the high-precision filling module are connected via a synchronous control sensor to ensure that the forming and filling processes of each egg tart crust are carried out synchronously. During the filling process, the precise positioning of the egg tart crust is fed back by the sensor to avoid filling deviation or uneven filling.

[0072] like Figure 2 As shown, the embodiment of the present invention provides a preparation process of an automatic egg tart forming preparation device based on the automatic egg tart forming preparation device, and the process specifically includes:

[0073] S1: Egg tart crust forming: The automatic feeding system transfers the prefabricated egg tart crust to the precision mold 1, the vacuum adsorption device 2 fixes the egg tart crust in the mold groove, and the precision mold 1 presses the egg tart crust to ensure the uniformity of the thickness and shape of the egg tart crust;

[0074] S2: Filling: After the egg tart crust is formed, it is automatically transported to the filling module through the conveyor belt 5; the high-precision filling pump 3 injects the filling into the egg tart crust evenly through the quantitative syringe 4 according to the set formula and amount; the flow regulating valve controls the flow rate and injection amount of the filling in real time to ensure that the filling is evenly distributed;

[0075] S3: Detection and adjustment: After the filling is completed, the image recognition system detects the edge shape of the egg tart crust and the filling condition of the filling in real time; if it is detected that the shape does not meet the standard or the filling is uneven, the feedback system automatically adjusts the injection volume of the filling syringe or the molding pressure of the egg tart crust;

[0076] S4: Automatic transfer and collection: After being formed and filled, the egg tarts are automatically transferred to the next process, such as baking or packaging. The positioning device ensures smooth product transfer and quality monitoring is carried out at each production step.

[0077] The S1 specifically includes:

[0078] Feeding: The automatic feeding system delivers the prefabricated egg tart crust material to the precision mold 1; the speed and interval time of the feeding system can be adjusted according to production needs, and is generally set to one egg tart crust every 2 seconds;

[0079] Positioning: The egg tart crust is fixed in the mold groove by the vacuum adsorption device 2 to ensure that the egg tart crust does not move during the pressing process; the vacuum adsorption pressure is generally set at 0.6-0.8MPa to stabilize the position of the egg tart crust;

[0080] Pressing: The precision mold 1 applies uniform pressure on the egg tart crust to make the crust meet the required thickness and shape; the mold pressure is usually set at 2-3MPa and the pressing time is 1-1.5 seconds to ensure uniform thickness and smooth edges;

[0081] Thickness control: The thickness of the egg tart crust after forming is controlled at 1.5-2mm to ensure the taste and texture are consistent after baking;

[0082] The S2 specifically includes:

[0083] Conveying and positioning: the formed egg tart crust is conveyed to the filling module through the conveyor belt 5, and the positioning accuracy is controlled within ±0.5mm to ensure that the filling can be accurately filled into the egg tart crust;

[0084] Filling pump control: The high-precision filling pump 3 evenly injects the filling into the egg tart crust according to the preset formula; the injection volume of the filling pump is 20-25ml, which is adjusted according to the size of the egg tart, and the filling process is controlled within 1 second;

[0085] Flow rate and injection volume adjustment: The flow rate of the filling is accurately controlled by the flow regulating valve to ensure uniform injection; the flow rate is generally set to 10-12ml / s, and the injection volume can be adjusted according to the specifications of the egg tarts. The anti-drip design of the syringe ensures that the filling is injected cleanly and neatly.

[0086] The S3 specifically includes:

[0087] Real-time image recognition detection: The image recognition system uses a high-definition camera to monitor the shape of the egg tart crust and the filling status of the filling in real time, with an image acquisition frequency of 30 frames per second;

[0088] Edge and filling detection: After filling is completed, the detection system detects the edge shape of the egg tart crust and the surface of the filling; if it detects that the shape or filling is not up to standard, such as edge cracks or filling deviation exceeding ±1mm, the system will sound an alarm and automatically adjust;

[0089] Feedback adjustment: The system adjusts the injection volume or molding pressure of the syringe in real time, and the specific parameters are automatically adapted according to the test results; for example, if the filling volume is too small, the system will increase the injection volume by 2-3ml to meet the standard;

[0090] The S4 specifically includes:

[0091] Product conveying: The formed and filled egg tarts are conveyed to the next process, such as baking or packaging, via a high temperature resistant conveyor belt 5; the conveying speed is set at 0.2m / s to ensure smooth transmission;

[0092] Positioning and quality monitoring: The conveying system is equipped with a position sensor to monitor the transmission of the egg tarts in real time; the positioning device ensures that each egg tart is in the correct position before baking or packaging, with the deviation controlled within ±0.5mm;

[0093] Rejection of defective products: The inspection module continues to monitor quality during the transmission process. If unqualified products are detected, they are automatically rejected and the defect information is recorded. The rejection process is accurate to milliseconds to avoid affecting other egg tarts.

[0094] An embodiment of the present invention provides a computer device, which includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of the preparation process of the automatic egg tart forming preparation equipment.

[0095] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. It can be understood by a person of ordinary skill in the art that the above-mentioned devices and methods can be implemented using computer executable instructions and / or contained in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the carrier medium. The device and its modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0096] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. An automatic egg tart forming and preparing device, characterized in that: The equipment includes: The automatic egg tart crust forming module includes an adjustable precision mold and a vacuum adsorption device. The precision mold has an adjustable design and can adjust the mold size according to egg tart crusts of different specifications. The prefabricated egg tart crust is placed in the mold groove by an automated manipulator. The vacuum adsorption device ensures that the egg tart crust fits tightly with the mold to achieve a uniform shape and thickness of the egg tart crust. A high-precision filling module, including a high-precision filling pump, a quantitative syringe and a flow regulating valve. The filling pump controls the filling injection amount through the flow regulating valve to ensure that the filling amount is consistent each time. The syringe nozzle is designed to prevent filling dripping and avoid filling contamination; The conveying system, including a conveyor belt and a multi-point positioning device, uses sensors to accurately detect the position of each egg tart crust, so that the egg tart crust can be accurately conveyed to the filling module after forming, and then conveyed to the next process after filling; The detection and feedback module includes an image recognition sensor and a quality detection device to monitor the placement accuracy of the egg tart crust and the filling amount in real time, automatically reject unqualified products, and adjust system parameters through a feedback mechanism to ensure product quality; The integrated control system includes a central controller, which is used to coordinate the operating steps of the automatic egg tart crust forming module, high-precision filling module, conveying system and detection and feedback module, and adjust the filling quantity, egg tart crust thickness, production speed and other parameters in real time according to production needs to achieve full automation and efficiency of egg tart production.

2. The automatic egg tart forming and preparing equipment according to claim 1, characterized in that: The precision mold of the automatic egg tart crust forming module has an adjustable design, and the mold size can be manually or automatically adjusted according to egg tart crusts of different specifications, ensuring that egg tart crusts of different sizes can achieve uniform thickness and edge accuracy during the forming process; The precision mold of the automatic egg tart crust forming module is connected to the manipulator through a positional relationship, and the manipulator can be flexibly adjusted according to set parameters to keep the position accuracy of the egg tart crust stable during the placement process.

3. The automatic egg tart forming and preparing device as claimed in claim 1, characterized in that: The syringe nozzle of the high-precision filling module is designed to be a drip-proof structure, which is specifically designed by adding an automatic closing valve or other mechanical structure at the end of the nozzle to ensure that no excess filling drips after each filling, thereby avoiding contamination of the egg tart surface and waste of equipment; the filling pump and the quantitative syringe 4 of the high-precision filling module are connected to realize the transmission and control of the filling, and the flow regulating valve is arranged between the filling pump and the syringe to control the filling injection amount in real time.

4. The automatic egg tart forming and preparing device as claimed in claim 1, characterized in that: The conveyor belt material of the conveying system is made of high-temperature heat-resistant material, which can adapt to high-temperature processes in different production environments. The conveyor belt is integrated with a multi-point positioning sensor to ensure that the egg tart crust and the filled egg tarts can be operated in each step at the accurate position to avoid misalignment and errors in production; the conveyor belt and the multi-point positioning device of the conveying system are fixedly connected in an assembly relationship, and the sensor on the multi-point positioning device is used to detect the position of each egg tart crust and work in conjunction with the conveyor belt to ensure that the egg tart crust does not deviate from the predetermined trajectory during the conveyance process.

5. The automatic egg tart forming and preparing device as claimed in claim 1, characterized in that: The image recognition sensor in the detection and feedback module can identify whether the shape and edge of each egg tart crust meet the standards through high-resolution imaging technology, monitor the filling amount and position of the filling, and adjust the molding and filling operations in time through the control system to ensure the consistency of the product during the production process; The integrated control system has multi-task coordination capability, can simultaneously control the operation sequence between the forming module, the filling module and the conveying module, and coordinate the working rhythm of each module by real-time monitoring of the information fed back by the sensor, avoid working conflicts between different modules, and achieve efficient and stable production; The integrated control system has an adaptive adjustment function. By analyzing the real-time monitoring data of egg tart crust forming and filling, it automatically adjusts the relevant parameters in each step, such as the forming pressure of the egg tart crust, the flow rate and amount of filling injection, thereby improving the production efficiency and yield of the equipment.

6. The automatic egg tart forming and preparing device as claimed in claim 1, characterized in that: The automatic forming module and the high-precision filling module are connected via a synchronous control sensor to ensure that the forming and filling processes of each egg tart crust are carried out synchronously. During the filling process, the precise positioning of the egg tart crust is fed back by the sensor to avoid filling deviation or uneven filling.

7. A preparation process for an automatic egg tart forming equipment based on the automatic egg tart forming equipment as claimed in claim 1, characterized in that: The process specifically includes: S1: Egg tart crust forming: The automatic feeding system transfers the prefabricated egg tart crust to the precision mold, the vacuum adsorption device fixes the egg tart crust in the mold groove, and the precision mold presses the egg tart crust to ensure the uniformity of the thickness and shape of the egg tart crust; S2: Filling: After the egg tart crust is formed, it is automatically transported to the filling filling module through a conveyor belt; a high-precision filling pump injects the filling into the egg tart crust evenly through a quantitative injector 4 according to the set formula and amount; a flow regulating valve controls the flow rate and injection amount of the filling in real time to ensure that the filling is evenly distributed; S3: Detection and adjustment: After the filling is completed, the image recognition system detects the edge shape of the egg tart crust and the filling condition of the filling in real time; if it is detected that the shape does not meet the standard or the filling is uneven, the feedback system automatically adjusts the injection volume of the filling syringe or the molding pressure of the egg tart crust; S4: Automatic transfer and collection: After being formed and filled, the egg tarts are automatically transferred to the next process, such as baking or packaging. The positioning device ensures smooth product transfer and quality monitoring is carried out at each production step.

8. The process for preparing the automatic egg tart forming equipment as claimed in claim 7, characterized in that: The S1 specifically includes: Feeding: The automatic feeding system delivers the prefabricated egg tart crust materials to the precision mold; the speed and interval time of the feeding system can be adjusted according to production needs, generally set to one egg tart crust every 2 seconds; Positioning: The egg tart crust is fixed in the mold groove through a vacuum adsorption device to ensure that the egg tart crust will not move during the pressing process; the vacuum adsorption pressure is generally set at 0.6-0.8MPa to stabilize the position of the egg tart crust; Pressing: The precision mold applies uniform pressure on the egg tart crust to make it meet the required thickness and shape; the mold pressure is usually set at 2-3MPa and the pressing time is 1-1.5 seconds to ensure uniform thickness and smooth edges; Thickness control: The thickness of the egg tart crust after forming is controlled at 1.5-2mm to ensure the taste and texture are consistent after baking; The S2 specifically includes: Conveying and positioning: The formed egg tart crust is transported to the filling module through a conveyor belt, and the positioning accuracy is controlled within ±0.5mm to ensure that the filling can be accurately filled into the egg tart crust; Filling pump control: The high-precision filling pump evenly injects the filling into the egg tart crust according to the preset formula; the injection volume of the filling pump is 20-25ml, which is adjusted according to the size of the egg tart, and the filling process is controlled within 1 second; Flow rate and injection volume adjustment: The flow rate of the filling is accurately controlled by the flow regulating valve to ensure uniform injection; the flow rate is generally set to 10-12ml / s, and the injection volume can be adjusted according to the specifications of the egg tarts. The anti-drip design of the syringe ensures that the filling is injected cleanly and neatly.

9. The process for preparing the automatic egg tart forming equipment as claimed in claim 7, characterized in that: The S3 specifically includes: Real-time image recognition detection: The image recognition system uses a high-definition camera to monitor the shape of the egg tart crust and the filling status of the filling in real time, with an image acquisition frequency of 30 frames per second; Edge and filling detection: After filling is completed, the detection system detects the edge shape of the egg tart crust and the surface of the filling; if it detects that the shape or filling is not up to standard, such as edge cracks or filling deviation exceeding ±1mm, the system will sound an alarm and automatically adjust; Feedback adjustment: The system adjusts the injection volume or molding pressure of the syringe in real time, and the specific parameters are automatically adapted according to the test results; for example, if the filling volume is too small, the system will increase the injection volume by 2-3ml to meet the standard; The S4 specifically includes: Product conveying: The formed and filled egg tarts are conveyed to the next process, such as baking or packaging, via a high-temperature resistant conveyor belt; the conveying speed is set at 0.2m / s to ensure smooth transmission; Positioning and quality monitoring: The conveying system is equipped with a position sensor to monitor the transmission of the egg tarts in real time; the positioning device ensures that each egg tart is in the correct position before baking or packaging, with the deviation controlled within ±0.5mm; Rejection of defective products: The inspection module continues to monitor quality during the transmission process. If unqualified products are detected, they are automatically rejected and the defect information is recorded. The rejection process is accurate to milliseconds to avoid affecting other egg tarts.

10. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the preparation process of the automatic egg tart forming preparation equipment as described in any one of claims 7-9.

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