Egg support clamping actuator based on thin-wall clamping jaw

Abstract

The invention discloses an egg support clamping actuator based on thin-wall clamping jaws. In order to realize insertion and extraction of the clamp in a gap between the egg support and the inner wall of the box body, a slider-crank mechanism is utilized. When the sliding block moves downwards, the crank and the connecting rod are popped out to form a triangular structure, and objects needing to be hooked can be stably supported when the triangular structures are used in pairs; when the sliding block moves upwards, the crank and the connecting rod are withdrawn, coincide with the sliding block and the rack and restore to be in a thin-wall state, the task requirement for inserting and separating from the egg support can be met under the limitation of a narrow lateral space, and the function of clamping the egg support for boxing is achieved.

Description

Technical Field

[0001] This invention belongs to the field of poultry egg tray gripping technology, specifically relating to an egg tray gripping actuator based on thin-walled grippers. Background Technology

[0002] The large-scale development of the poultry industry has driven the demand for automation in egg processing. Given the massive egg production volume, existing egg palletizing and packing systems still face challenges in practical applications. Currently, common pulp egg pallets are packed in 30-egg bags. During packing, fully loaded pallets must be tightly packed against the four walls of the cardboard box, leaving extremely limited space around the pallets. If conventional clamps are used to grip along the pallet edges, the radial dimension of the clamps must be as small as possible. However, existing clamps are typically too large, making them unsuitable for flexible operation in confined spaces.

[0003] For example, the utility model patent with authorization announcement number CN207773588U discloses a rotary clamping mechanism and an automatic egg tray screw-in device, including a lifting drive device, a horizontally arranged upper connecting plate, a vertically arranged main shaft, a horizontally arranged lower connecting plate, a gripping device, and a rotary drive device. The lower end of the lifting drive device is fixedly connected to the upper surface of the upper connecting plate and drives the upper and lower connecting plates to move up and down. The upper end of the main shaft is vertically fixedly connected to the lower surface of the upper connecting plate, and the lower end of the main shaft is vertically rotatably connected to the upper surface of the lower connecting plate. The gripping device is installed on the lower connecting plate and is used to grip the egg tray below the lower connecting plate. The rotary drive device is installed on the lower connecting plate and is used to drive the lower connecting plate to rotate by a preset angle.

[0004] Utility model patent application CN212685997U discloses an egg suction and egg tray combination device, including a support frame and at least one gripping mechanism installed at the bottom of the support frame. The gripping mechanism includes a support frame, a suction cup assembly, and a clamping mechanism. The upper part of the support frame is connected to the support frame. The suction cup assembly includes a suction cup fixing seat and multiple suction cups installed on and connected to the suction cup fixing seat. The clamping mechanism includes a drive mechanism and at least two clamping parts connected to the drive mechanism. The lower part of the support frame and the drive mechanism are both installed on the suction cup fixing seat. During gripping, the eggs separate from the egg tray, multiple eggs are suctioned by the suction cups, and the clamping cylinder drives the clamping rod to clamp the egg tray. Summary of the Invention

[0005] This application addresses the aforementioned technical problems in the prior art by providing an egg tray gripper based on thin-walled grippers.

[0006] An egg tray gripper based on thin-walled grippers includes: Mounting framework; The thin-walled gripper includes a plurality of grippers disposed on the mounting frame and extending downward toward the mounting frame. Each thin-walled gripper includes a thin-walled member with its upper end disposed on the mounting frame. The lower end of the thin-walled member is one end that extends into the egg tray during use. The lower end of the thin-walled member is provided with a connecting rod and a crank. The lower end of the crank is hinged to the thin-walled member, and the upper end of the crank is hinged to one end of the connecting rod. The drive unit includes a liftable slider, the lower end of which is hinged to the other end of a connecting rod. When the slider descends, the end of the connecting rod that is hinged to the crank extends outward to form a support structure for supporting the lower edge of the egg tray. When the slider rises, the end of the connecting rod that is hinged to the crank retracts inward.

[0007] Preferably, the thin-walled grippers are provided on at least two opposite sides of the mounting frame, with at least one thin-walled gripper on each side.

[0008] Preferably, the thin-walled grippers are provided on two opposite sides of the mounting frame, and at least two thin-walled grippers are provided on each side at intervals.

[0009] More preferably, the mounting frame includes a mounting plate, and mounting arms with adjustable spacing are provided on opposite sides of the mounting plate. Each mounting arm on both sides is provided with a set of thin-walled claws. Each set of thin-walled claws includes two with adjustable spacing, and the spacing adjustment direction of the thin-walled claws is perpendicular to the spacing adjustment direction of the mounting arms.

[0010] More preferably, the two sides of the mounting frame that are not provided with the thin-walled grippers are also provided with baffles for limiting the sides of the egg tray during use; the spacing between the baffles on opposite sides of the mounting frame is adjustable.

[0011] Preferably, the thin-walled component has a receiving cavity, the slider is installed in the receiving cavity, and the connecting rod and crank are also located in the receiving cavity when they are retracted inward.

[0012] More preferably, the lower end of the crank is hinged to the inner walls of both sides of the receiving cavity via a first rotating shaft; The upper end of the crank is hinged to one end of the connecting rod via a second pivot. The lower ends of the connecting rod and the slider are hinged by a third rotating shaft. The inner walls on both sides of the receiving cavity are provided with vertical first guide grooves, and the two ends of the third rotating shaft extend into the first guide grooves on both sides respectively. The slider has protruding limiting rods on both sides, and the inner walls of the receiving cavity on both sides are also provided with vertical second guide grooves, into which the limiting rods extend.

[0013] Preferably, the drive unit further includes a motor and a tendon rope, the output shaft of the motor is connected to a winding wheel, the motor drives the winding wheel to wind up the tendon rope, thereby the tendon rope drives the slider to rise.

[0014] More preferably, after the motor drives the rope reel to unwind the tendon rope, the connecting rod, crank, and slider descend under the action of gravity; And / or, at least one of the connecting rod, crank, and slider is provided with a return spring to keep the connecting rod, crank, and slider in the lowered reset state.

[0015] Preferably, the egg tray gripper based on thin-walled grippers further includes a robotic arm, and the mounting frame is disposed at the end of the robotic arm.

[0016] This invention utilizes a crank-slider mechanism to enable the clamp to insert and remove objects from the gap between the egg tray and the inner wall of the box. When the slider moves downward, the crank and connecting rod pop out, forming a triangular structure. When used in pairs, this structure can stably support the object to be hooked. When the slider moves upward, the crank and connecting rod retract, aligning with the slider and frame, returning to a thin-walled state. This mechanism can meet the requirement of inserting and removing egg trays under limited lateral space, thus enabling the clamping and packing of egg trays into the box.

[0017] When the gripper is inserted into the narrow gap between the egg tray and the box wall, the slider moves upward, causing the crank connecting rod to retract, thus creating a thin-walled gripper to minimize the radial dimension of the gripper. During retrieval, the slider moves downward, and the crank and connecting rod pop out to form a triangular support structure. The paired arrangement on both sides ensures stable gripping of the egg tray. This design satisfies the insertion and removal requirements in confined lateral spaces while ensuring rigidity and stability during gripping, thereby efficiently achieving the gripping and packing functions of egg trays (especially egg pulp trays). In the field of poultry egg robot unloading, the egg tray gripper, as the end effector, must simultaneously meet two basic requirements: firstly, it must be able to safely and effectively handle fragile finished egg trays and boxes throughout the entire process, achieving a breakage rate lower than manual operation; secondly, the gripper body needs to be sufficiently miniaturized and lightweight to adapt to small collaborative robotic arms with limited load and low joint torque, and to meet the insertion and removal constraints in narrow carton spaces. This application designs a specialized, non-destructive egg tray gripper. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the egg tray gripper based on thin-walled grippers in this application.

[0019] Figure 2 This is a first-view three-dimensional structural diagram of the egg tray gripper based on thin-walled grippers in this application after the removal of the robotic arm.

[0020] Figure 3This is a second-view three-dimensional structural diagram of the egg tray gripper based on thin-walled grippers in this application after the removal of the robotic arm.

[0021] Figure 4 The diagram shows the first-person perspective three-dimensional structure of the thin-walled gripper in two states. The left diagram shows the connecting rod and crank in the outward-folded state, and the right diagram shows the connecting rod and crank in the inward-folded state.

[0022] Figure 5 This is a second-view three-dimensional structural diagram of a thin-walled gripper.

[0023] Figure 6 The diagram shows the side view of the remaining structure after removing the thin-walled component in two states of the thin-walled gripper. The left diagram shows the connecting rod and crank in the outward-folded state, and the right diagram shows the connecting rod and crank in the inward-folded state.

[0024] Figure 7 A three-dimensional structural diagram of the remaining structure after the thin-walled part is removed from the thin-walled gripper.

[0025] Figure 8 This is a three-dimensional structural diagram of the mounting arm, thin-walled gripper, and side guard.

[0026] Figure 9 This is a side view of the structure when the thin-walled grippers are holding the egg tray.

[0027] Figure label: Robotic arm 1, Mounting frame 2, mounting plate 21, end mounting structure 22, mounting arm 23, first oblong hole 24, second oblong hole 25, third oblong hole 26, first bolt 27, second bolt 28, second bolt 28', third bolt 29. Thin-walled gripper 3, thin-walled component 31, receiving cavity 311, mounting hole 312, first guide groove 313, second guide groove 314, guide rod 315, connecting rod 32, crank 33, first rotating shaft 34, second rotating shaft 35, third rotating shaft 36, limiting rod 37, torsion spring 38, spring 39. Drive unit 4, slider 41, motor 42, rope winding wheel 43, tendon rope 44, guide wheel 45, tendon rope tensioning module 46. 5. Edge guard, 6. Egg tray, 7. Egg. Detailed Implementation

[0028] like Figure 1 As shown, the egg tray gripper based on thin-walled grippers of this application includes a robotic arm 1 and a mounting frame 2, with the mounting frame 2 located at the end of the robotic arm 1. The mounting frame 2 includes a mounting plate 21, with an end-mounting structure 22 located in the middle of the top surface of the mounting plate 21. The entire mounting frame 2 is fixedly mounted to the free end of the robotic arm 1 via the end-mounting structure 22. The robotic arm 1 drives the mounting frame 2 to move, completing the gripping and transporting action of the egg tray.

[0029] like Figure 2 and Figure 3 As shown, the mounting plate 21 has a plate-like structure with sufficient space underneath for handling the egg tray. In addition to the mounting plate 21 as the main body, the mounting frame 2 also includes a mounting arm 23 at each opposite end of the mounting plate 21. Defining the direction along which the mounting arms 23 are located on the mounting plate 21 as the axial direction, the mounting arms 23 have axially arranged first oblong holes 24. The mounting plate 21 has corresponding mounting holes, and the mounting arms 23 are fixed to the mounting plate 21 by first bolts 27 installed in the first oblong holes 24. The axial spacing between the two mounting arms 23 can be adjusted by adjusting the position of the first bolts 27 in the first oblong holes 24.

[0030] like Figure 8 As shown, each mounting arm 23 has a thin-walled gripper 3 at both ends along the vertical axis. The thin-walled gripper 3 includes a thin-walled member 31. The upper end of the thin-walled member 31 is fixedly mounted on the mounting arm 23, and the lower end extends downward to grip the egg tray. The lower end of the thin-walled member 31, at least the portion that extends under the egg tray during use, is thin-walled. Thin-walled means that it is thin enough relative to the width of the gap at the edge of the egg tray to allow the lower end of the thin-walled member 31 to easily extend under the egg tray. In the structure shown in the figure, this specifically refers to the thin-walled member 31 being thinner along the axial direction of the mounting plate 21.

[0031] Because the length of the gap at the edge of the egg tray is sufficient, there are no special requirements for the width of the thin-walled component 31. If the width of the thin-walled component 31 is set to be wider, only one thin-walled gripper 3 can be set on each mounting arm 23, and the two thin-walled grippers 3 on both sides can also lift the egg tray. To ensure a more stable operation, the structure shown in the figure is preferred, that is, two thin-walled grippers 3 are set at intervals on each mounting arm 23, so that the four thin-walled grippers 3 on both sides can support the egg tray more stably.

[0032] The mounting arm 23 is provided with a second waist-shaped hole 25 arranged vertically along the axis, and the thin-walled member 31 is provided with a corresponding mounting hole. The thin-walled member 31 is fixed to the mounting arm 23 by a second bolt 28 installed in the second waist-shaped hole 25. By adjusting the position of the second bolt 28 in the second waist-shaped hole 25, the distance between the two thin-walled members 31 on the same mounting arm 23, that is, the distance along the vertical axis, can be adjusted.

[0033] The mounting arm 23 is also equipped with side guards 5 for limiting the sides of the egg tray during use. The side guards 5 are correspondingly located on both sides of the mounting frame 2 where the thin-walled grippers 3 are not located, with two side guards 5 on each side. The lower end of the side guard 5, at least the portion extending under the egg tray during use, is also thin-walled, allowing it to extend under the egg tray from the edge gap. When the thin-walled grippers 3 lift the egg tray, the side guards 5 limit the egg tray from the other two sides, preventing the egg tray from falling out from the sides where the thin-walled grippers 3 are not located. The side guards 5 are also installed in the second oblong hole 25 via the second bolt 28'. By adjusting the position of the second bolt 28' in the second oblong hole 25, the distance between the two side guards 5 on the same mounting arm 23, that is, the vertical axial distance, can be adjusted.

[0034] To facilitate the thin-walled gripper 3 and the guard 5 extending under the egg tray, the bottom surface of the thin-walled part 31 and the bottom surface of the guard 5 are both chamfered on the side facing the egg tray to be gripped during use.

[0035] like Figures 4-7 As shown, the thin-walled component 31 has a receiving cavity 311. A connecting rod 32 and a crank 33 are located on one side of the lower end of the thin-walled component 311 within the receiving cavity 311. The lower end of the crank 33 is hinged to the inner walls of both sides of the receiving cavity 311 via a first rotating shaft 34. Mounting holes 312 are provided on the inner walls of both sides of the receiving cavity 311, and both ends of the first rotating shaft 34 extend into the mounting holes 312 on both sides. The upper end of the crank 33 is hinged to one end of the connecting rod 32 via a second rotating shaft 35.

[0036] The egg tray gripper based on thin-walled grippers in this application also includes a drive unit 4. The drive unit 4 includes a liftable slider 41, which is installed inside the receiving cavity 311 and located above the connecting rod 32 and the crank 33. The lower end of the slider 41 is hinged to the other end of the connecting rod 32, and the connecting rod 32 is hinged to the lower end of the slider 41 via a third rotating shaft 36. Vertical first guide grooves 313 are provided on the inner walls of both sides of the receiving cavity 311, and the two ends of the third rotating shaft 36 extend into the first guide grooves 313 on both sides respectively.

[0037] Limiting rods 37 protrude from both sides of the slider 41, and vertical second guide grooves 314 are also provided on the inner walls of both sides of the receiving cavity 311. The limiting rods 37 extend into the second guide grooves 314. The limiting rods 37 are two independent protrusions on both sides of the slider 41, or they can be a single rod that passes through the slider 41 with both ends exposed on both sides of the slider 41. In the structure shown in the figure, the limiting rod 37 is a single rod that passes through the slider 41, with both ends engaging with the second guide grooves 314 on both sides of the receiving cavity 311. There is also a notch on the slider 41 that exposes the middle part of the limiting rod 37, which is used to connect the tendon rope 44.

[0038] like Figures 1-3As shown, the drive unit 4 also includes a motor 42, which is mounted on the top surface of the mounting plate 21. A winding wheel 43 is provided on the bottom surface of the mounting plate 21. The output shaft of the motor 42 passes through the mounting plate 21 and is connected to the winding wheel 43. The motor 42 drives the winding wheel 43 to wind up the tendon rope 44. There are four tendon ropes 44, and each tendon rope 44 is connected to a corresponding slider 41. Each slider 41 is synchronously wound up by the same motor 42 and the same winding wheel 43, thereby enabling the synchronous operation of each thin-walled gripper 3.

[0039] Each thin-walled component 31 has a guide wheel 45 above the receiving cavity 311. The tendon rope 44 passes around the guide wheel 45 and connects downward to the slider 41. A tendon rope tensioning module 46 is also provided on the bottom surface of the mounting plate 21. Each tendon rope 44 corresponds to a tendon rope tensioning module 46. A third oblong hole 26 is provided on the mounting plate 21. The tendon rope tensioning module 46 is fixed by a third bolt 29 installed in the third oblong hole 26. A roller is provided on the tendon rope tensioning module 46. The tendon rope 44 abuts against the roller. The position of the tendon rope tensioning module 46 is adjusted by adjusting the position of the third bolt 29 in the third oblong hole 26. The roller bends the tendon rope 44 to tighten it.

[0040] A torsion spring 38 is provided on the first shaft 34 of the crank 33. After the motor 42 drives the rope winding wheel 43 to wind up the tendon rope 44, the slider 41 rises and the torsion spring 38 twists to store power. After the motor 42 drives the rope winding wheel 43 to unwind the tendon rope 44, the torsion spring 38 returns to its original position, causing the end of the connecting rod 32 that is hinged to the crank 33 to flip outward and extend, and the slider 41 descends.

[0041] Meanwhile, a vertically arranged spring 39 is provided between the top surface of the slider 41 and the top wall of the receiving cavity 311. A vertically arranged guide rod 315 is also provided above the slider 41 in the receiving cavity 311 of the thin-walled member 31, and the spring 39 is sleeved on the guide rod 315. After the motor 42 drives the winding wheel 43 to wind up the tendon rope 44, the spring 39 is compressed and stores force after the slider 41 rises. After the motor 42 drives the winding wheel 43 to unwind the tendon rope 44, the spring 39 returns to its original position, driving the slider 41 to descend. The end of the connecting rod 32 that is hinged to the crank 33 flips outward and extends to form a support structure.

[0042] By using the torsion spring 38 and the spring 39 to reset the tendon rope 44, once the tendon rope 44 is unwound, the end of the connecting rod 32 that is hinged to the crank 33 tends to remain in an outwardly extended state.

[0043] like Figure 9As shown, when in use, egg trays 6 are stacked one on top of the other, and eggs 7 are placed in the depression on the top surface of egg trays 6. First, the motor 42 drives the winding wheel 43 to wind up the tendon rope 44. Then, the slider 41 rises, causing the connecting rod 32, which is hinged to the end of the slider 41, to rise together. The connecting rod 32, which is hinged to the crank 33, retracts inward. When the connecting rod 32 and the crank 33 retract inward, they are located inside the receiving cavity 311. Then, the robotic arm 1 drives the mounting frame 2 to descend. The thin-walled gripper 3 and the stop 5 extend downward from the gap outside the egg tray 6 to the bottom of the egg tray 6. After descending to the bottom, the motor 42 drives the winding wheel 43 to unwind the tendon rope 44. The rope is reset through the cooperation of the torsion spring 38 and the spring 39. The slider 41 descends, and the connecting rod 32, which is hinged to the crank 33, flips outward to form a support structure for supporting the lower edge of the egg tray 6. This causes the thin-walled gripper 3 to change from a "thin-walled state" to an "outwardly popped triangular support state". The robotic arm 1 drives the mounting frame 2 to rise, lifting the egg tray 6.

[0044] When the crank 33 and connecting rod 32 are hinged to form a triangular support structure, the contact surface with the egg tray 6 is rounded to avoid damage to the egg tray 6 during operation.

[0045] Non-destructive locking and zero-power retention: The resulting triangular support structure is essentially a self-locking geometry. Its load-bearing stability primarily stems from the lever length ratio and rotational limit design of the mechanism, rather than relying on continuous output torque from the motor 42 or air pressure. Under load, the contact force between the triangular support structure and the edge of the egg tray 6 is transmitted to the thin-walled component via the connecting rod 32 and crank 33, forming a closed-loop force circuit with the reverse constraint, thus achieving zero-power locking "retained by structural shape." Even if the motor 42 is de-energized or the tendon rope 44 slackens, the thin-walled gripper 3 can still maintain the lifting state, effectively avoiding the risk of the egg tray 6 falling or being crushed due to power system failure.

[0046] Release and Thin-Wall Recovery: After the egg tray 6 is safely placed into the target carton or on the tray, the motor 42 tightens the tendon rope 44, which pulls the slider 41 upward in the opposite direction via the guide wheel 45. During the upward movement, the slider 41 drives the crank 33 to rotate in the opposite direction via the connecting rod 32, and the outwardly extended part gradually retracts, re-aligning with the shape of the thin-walled part 31, and the thin-walled gripper 3 returns to its "thin-walled state". At this time, the support structure disengages from the edge of the egg tray 6, and the thin-walled gripper 3 can be smoothly pulled out in the extremely narrow gap, preparing for the next cycle of operation.

[0047] This application presents a lightweight, long-distance transmission scheme for an egg tray gripper based on a thin-walled gripper. The entire drive mechanism utilizes a motor, a winding wheel, and a flexible rope. The motor can be positioned away from the thin-walled gripper, and the motor drives the winding wheel to rotate, thereby controlling the flexible rope to control the movement of the connecting rod and crank on the thin-walled gripper. This arrangement has two advantages: First, it significantly reduces the mass and inertia of the thin-walled gripper, which serves as the end effector. By partially removing the high-density motor body from the thin-walled gripper, only lightweight connecting rods, cranks, sliders, and guide components remain at the end, effectively reducing the end inertia of the egg tray gripper and improving trajectory tracking accuracy and dynamic response capability. Second, it improves the flexibility of system layout: the rope can be routed along the mounting frame without occupying valuable space inside the carton, which is beneficial for achieving better motion planning and anti-collision design within a limited working space.

[0048] This application presents a thin-walled gripper for an egg tray gripper. The gripper is designed as a near-plate-like thin-walled structure. In its folded state (i.e., with the connecting rod and crank retracted inwards), the gripper's cross-sectional dimensions are small, accommodating insertion and detachment from the gap between the egg tray and the box wall. The thin-walled design not only reduces the radial dimension but also provides additional benefits in the following aspects: reducing the probability of interference between the thin-walled gripper and the egg tray / box wall, improving the fault tolerance of the insertion process; reducing the cross-section while maintaining sufficient rigidity, further reducing the end mass and driving load; and by rationally setting rounded transitions and reinforcing the thickness at the connection between the connecting rod and crank on the thin wall, the local stress distribution can be improved without significantly increasing the volume, thus enhancing fatigue life.

Claims

1. An egg tray gripper based on thin-walled grippers, characterized in that, include: Mounting framework; The thin-walled gripper includes a plurality of grippers disposed on the mounting frame and extending downward toward the mounting frame. The thin-walled gripper includes a thin-walled member with its upper end disposed on the mounting frame. The lower end of the thin-walled member is one end that extends into the egg tray during use. The lower end of the thin-walled member is provided with a connecting rod and a crank. The lower end of the crank is hinged to the thin-walled member, and the upper end of the crank is hinged to one end of the connecting rod. The drive unit includes a liftable slider, the lower end of which is hinged to the other end of a connecting rod. When the slider descends, the end of the connecting rod that is hinged to the crank extends outward to form a support structure for supporting the lower edge of the egg tray. When the slider rises, the end of the connecting rod that is hinged to the crank retracts inward.

2. The egg tray gripper based on thin-walled grippers according to claim 1, characterized in that, The mounting frame has thin-walled grippers on at least two opposite sides, with at least one thin-walled gripper on each side.

3. The egg tray gripper based on thin-walled grippers according to claim 1, characterized in that, The mounting frame has thin-walled grippers on two opposite sides, and at least two thin-walled grippers are spaced apart on each side.

4. The egg tray gripper based on thin-walled grippers according to claim 3, characterized in that, The mounting frame includes a mounting plate, and mounting arms with adjustable spacing are provided on opposite sides of the mounting plate. Each mounting arm on both sides is provided with a set of thin-walled claws. Each set of thin-walled claws includes two with adjustable spacing, and the spacing adjustment direction of the thin-walled claws is perpendicular to the spacing adjustment direction of the mounting arms.

5. The egg tray gripper based on thin-walled grippers according to claim 4, characterized in that, The mounting frame is provided with two sides without the thin-walled grippers, which are also provided with baffles for limiting the sides of the egg tray during use; the spacing between the baffles on opposite sides of the mounting frame is adjustable.

6. The egg tray gripper based on thin-walled grippers according to claim 1, characterized in that, The thin-walled component has a receiving cavity, the slider is installed in the receiving cavity, and the connecting rod and crank are also located in the receiving cavity when they are retracted inward.

7. The egg tray gripper based on thin-walled grippers according to claim 6, characterized in that, The lower end of the crank is hinged to the inner walls of both sides of the receiving cavity via a first rotating shaft; The upper end of the crank is hinged to one end of the connecting rod via a second pivot. The lower ends of the connecting rod and the slider are hinged by a third rotating shaft. The inner walls on both sides of the receiving cavity are provided with vertical first guide grooves, and the two ends of the third rotating shaft extend into the first guide grooves on both sides respectively. The slider has protruding limiting rods on both sides, and the inner walls of the receiving cavity on both sides are also provided with vertical second guide grooves, into which the limiting rods extend.

8. The egg tray gripper based on thin-walled grippers according to claim 1, characterized in that, The drive unit also includes a motor and a tendon rope. The output shaft of the motor is connected to a rope winding wheel. The motor drives the rope winding wheel to wind up the tendon rope, thereby driving the slider to rise.

9. The egg tray gripper based on thin-walled grippers according to claim 8, characterized in that, After the motor drives the rope reel to unwind the tendon rope, the connecting rod, crank and slider descend under the action of gravity; And / or, at least one of the connecting rod, crank, and slider is provided with a return spring to keep the connecting rod, crank, and slider in the lowered reset state.

10. The egg tray gripper based on thin-walled grippers according to claim 1, characterized in that, It also includes a robotic arm, with the mounting frame located at the end of the robotic arm.

Images