High-speed egg unstacking and feeding machine

Abstract

The application discloses a high-speed egg unstacking and feeding machine, which comprises an egg stack conveying, positioning and pushing unit, which is used for receiving and arranging multiple groups of egg stacks at a predetermined interval; a frame, which is close to the egg stack conveying, positioning and pushing unit and is internally provided with an egg tray conveying assembly; an egg stack processing unit, which is arranged in the frame and is in butt joint with the egg stack conveying, positioning and pushing unit, and comprises a rotating device, a lifting assembly, an unstacking assembly and a feeding manipulator assembly; the rotating device and the lifting assembly are used for lifting the egg stack layer by layer and rotating by 90 DEG between adjacent layers; and the unstacking assembly is used for grabbing a single-layer egg tray from the egg stack after being lifted and rotated. The application has the beneficial effects that the technical problem of the prior art, i.e., the low automation degree and production capacity of an automatic feeding machine, the non-synchronization with a conveying line in a feeding process and the secondary breakage easily occurring and affecting product quality are solved.

Description

Technical Field

[0001] This invention relates to the field of agricultural and sideline product processing technology, specifically to a high-speed egg depalletizing and feeding machine. Background Technology

[0002] Currently, there are two main ways to package raw eggs for egg processing plants: one is in the form of crates, and the other is in the form of 5*6 pallets. Crate-packaged eggs are also called bulk eggs. They are mainly picked up by hand from the farm's conveyor line and placed into the crates. This method is labor-intensive and prone to damage during transportation, so it is only suitable for small-scale farms.

[0003] With the development of egg-laying hen farming in my country, farming will become more intensive and large-scale, and this method will be gradually phased out. Egg stack packaging will become the mainstream in the future. Currently, there are three main feeding methods for egg processing plants: 1. manual suction cup feeding, 2. water tank feeding, and 3. fully automatic mechanical feeding. Among them, manual suction cup feeding is inefficient, labor-intensive, and prone to breakage, making it unsuitable for large-scale production. Water tank feeding is labor-intensive and has a low filling rate, resulting in wasted equipment capacity.

[0004] Currently, the main type of automatic feeding machine on the domestic market is the reciprocating swing arm type, which does not have a destacking function. The swing arm type can only meet the production capacity of 30,000 pieces per hour, and it is not synchronized with the conveyor line during the unloading process, resulting in additional damage. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a high-speed egg depalletizing and feeding machine, which solves the technical problem that existing automatic feeding machines have a low degree of automation and are not synchronized with the conveyor line during the feeding process, which easily leads to secondary breakage and affects product quality.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a high-speed egg depalletizing and feeding machine, comprising:

[0008] Egg stack conveying, positioning and pushing unit, which is used to receive and arrange multiple egg stacks at predetermined intervals;

[0009] The frame is located near the egg stack conveying and positioning push unit, and an egg tray conveying assembly is installed inside it.

[0010] An egg stack processing unit, disposed within the frame and connected to the egg stack conveying, positioning, and pushing unit, includes a rotating device, a lifting assembly, a destabilizing assembly, and a loading robot assembly. The rotating device and the lifting assembly are used to lift the egg stack layer by layer and rotate it 90° between adjacent layers. The destabilizing assembly is used to grab a single-layer egg tray from the lifted and rotated egg stack and transfer it to the egg tray conveying assembly. The loading robot assembly is used to pick up eggs from the egg trays on the egg tray conveying assembly and place the eggs on the egg conveying line.

[0011] An empty egg tray processing unit is used to receive empty egg trays from the egg tray conveying assembly and stack them.

[0012] In some embodiments, the egg stack conveying, positioning and pushing unit includes an egg stack conveying component, three egg stack positioning components, two egg stack pushing components and a monitoring component;

[0013] The egg stack conveying assembly includes a frame, a first conveyor belt, a second conveyor belt, side wall baffles, and end baffles. The frame is respectively equipped with an electrically controlled first conveyor belt and a second conveyor belt, and the speed of the second conveyor belt is greater than that of the first conveyor belt. The first conveyor belt is equipped with a side wall baffle, and the end of the second conveyor belt away from the first conveyor belt is equipped with an end baffle.

[0014] Each of the egg stack positioning components includes a positioning cylinder, a positioning crank, a positioning rotating rod, and a positioning baffle. The positioning cylinder is mounted on the frame, and its telescopic end is hinged to the positioning crank. The other end of the positioning crank is connected to the positioning baffle via the positioning rotating rod. The positioning baffle can be rotated by the telescopic movement of the positioning cylinder, and the rotation angle is 90°.

[0015] Each of the egg stack pushing components includes a frame, a column, a motor plate, a servo motor, a pushing crank, and a pushing plate. The frame is mounted on the machine frame via the column and is located on the second conveyor belt. The motor plate is mounted on the frame and has a servo motor mounted on it. The output end of the servo motor is connected to the pushing plate via the pushing crank. When the servo motor rotates, it can push the pushing plate in a reciprocating linear motion.

[0016] The monitoring components include a first sensor, a second sensor, a third sensor, a fourth sensor, and a fifth sensor, all of which are fixed to the egg stack pushing component.

[0017] In some embodiments, the frame is further provided with a first wall panel assembly and a second wall panel assembly, the first wall panel assembly being provided with an egg stacking processing unit, and the second wall panel assembly being provided with a feeding robot assembly.

[0018] In some embodiments, the egg stacking unit includes a rotating assembly;

[0019] The rotating assembly includes several egg stack trays, each of which is equipped with a guide and a fixing sleeve at its lower end. The lower end of the fixing sleeve is hinged to an egg stack rotating handle. A pull rod is hinged between the multiple egg stack rotating handles, and an egg stack rotating crank gear is provided on the pull rod furthest from the outermost egg stack tray. An egg stack rotating drive gear is provided on the outer periphery of the egg stack rotating crank gear, and a transmission square shaft is provided on the egg stack rotating drive gear. The transmission square shaft is connected to the lifting assembly.

[0020] In some embodiments, the lifting assembly includes an intermittent forward and reverse gearbox, a drive sprocket, a destacking spindle, a rotating vertical shaft, a stretcher tie rod, and a first swing arm assembly;

[0021] The intermittent forward and reverse gearbox is installed inside the first wall panel assembly. The intermittent forward and reverse gearbox includes an outer frame, an output shaft assembly, an input shaft assembly, and an intermediate shaft assembly.

[0022] The output shaft assembly includes an output shaft body, a reverse brake pad, a reverse gear, and a forward transition gear; the output shaft body is disposed within the outer frame, and the reverse brake pad, the reverse gear, and the forward transition gear are sequentially disposed on the output shaft body;

[0023] The input shaft body includes an input shaft body, a forward rotation brake pad, a forward rotation incomplete gear, a reverse rotation brake pad, and a reverse rotation incomplete gear. The input shaft body is disposed within the outer frame and located below the output shaft. The input shaft body is provided with a forward rotation brake pad, a forward rotation incomplete gear, a reverse rotation brake pad, and a reverse rotation incomplete gear.

[0024] The intermediate shaft assembly includes an intermediate shaft body, a forward rotation gear, a forward rotation transmission gear, and a forward rotation plate; the intermediate shaft body is disposed within the outer frame, and the intermediate shaft body is sequentially provided with a forward rotation gear, a forward rotation transmission gear, and a forward rotation brake plate;

[0025] The drive sprocket is located outside the first wall panel assembly and is connected to the destacking main shaft. The drive sprocket is connected to the transmission sprocket via a transmission chain. The transmission sprocket is connected to the intermittent forward and reverse gearbox. The destacking main shaft is equipped with a main shaft gear. A first-stage reduction gear is located on the outer periphery of the main shaft gear. A first-stage reduction gear is connected to the first-stage reduction gear via a shaft. A second-stage reduction gear is located on the outer periphery of the first-stage reduction gear. A second-stage reversing gear is located on the outer periphery of the second-stage reduction gear.

[0026] The rotating vertical rod is vertically installed outside the first wall panel assembly, and an intermittent output passive bevel gear is provided on the rotating vertical shaft. An intermittent output bevel gear is provided on the outer periphery of the intermittent output passive bevel gear. An active crank is hinged to the upper end of the rotating vertical rod, and a rotating upper pull rod is hinged to the active crank. A passive crank is provided at the end of the rotating upper pull rod, and a rotating hollow shaft is provided at the lower end of the passive crank. The lower end of the rotating hollow shaft is connected to the rotating assembly.

[0027] The first swing arm assembly includes a first vertical swing arm, a first horizontal swing arm, a first horizontal swing cam, and a first lower parallel link. The first vertical swing arm is disposed between the first wall panels, and the first horizontal swing arm is hinged to the first swing arm. The first horizontal swing arm is hinged to the first horizontal swing rod, and the first horizontal swing rod is hinged to the first horizontal swing link. The first horizontal swing cam is disposed below the first vertical swing arm, and the first horizontal swing link is provided with a first lower parallel link at its end. The first lower parallel link is connected to the destacking assembly.

[0028] In some embodiments, the destacking assembly includes an air inlet stretcher, front and rear fixing plates, and a cylinder; the air inlet stretcher is mounted on the first lower parallel connecting rod, the lower end of the air inlet stretcher is provided with the front and rear fixing plates, the cylinder is mounted above the front and rear fixing plates, the telescopic end of the cylinder is connected to a right fixing plate, the lower end of the right fixing plate is provided with a right clamping plate, a clamping plate opening and closing lever is hinged to the right fixing plate, the end of the clamping plate opening and closing lever is hinged to a left clamping plate, the lower end of the front and rear fixing plates is provided with a plurality of destacking suction nozzle assemblies, each destacking suction nozzle assembly includes a plastic square tube, the upper end of the plastic square tube is provided with an air inlet, the lower end of the plastic square tube is provided with a plastic connector, and the lower end of the plastic connector is provided with a suction nozzle.

[0029] In some embodiments, the loading robot assembly includes a second swing arm assembly, an adjusting parallel rod, and an end effector; the second swing arm assembly includes a second left-right swing cam, a second up-down swing arm, and a second left-right swing arm; the second left-right swing cam is disposed between the second wall panel assemblies, and the second up-down swing arm is movably connected to the second wall panel assembly; the second left-right swing arm is hinged to the second up-down swing arm, the second left-right swing arm is hinged to a second left-right swing rod, the second left-right swing rod is hinged to a second left-right swing connecting rod, and the end of the second left-right swing connecting rod is connected to a second parallel connecting rod. An adjusting parallel rod is connected to the rod, and an end effector is provided at the lower end of the adjusting parallel rod. The end effector includes a top drive sprocket, a top adjusting sprocket, an adjusting crank, a spacing adjusting rod, a hinge connecting rod, and an upper suction nozzle assembly. The top drive sprocket and the top adjusting sprocket are both located on the adjusting parallel rod and are connected by chain drive. An adjusting crank is provided at the lower end of the top adjusting sprocket, and the spacing adjusting rod is hinged to both ends of the adjusting crank. A hinge connecting rod is hinged to the lower end of the spacing adjusting rod, and a feeding suction nozzle assembly is provided at the lower end of the hinge connecting rod. The feeding suction nozzle assembly is used to move the eggs from the egg stack to the egg conveyor line.

[0030] In some embodiments, the egg tray conveying assembly includes a conveying wall panel, an egg pressing tray component, a bracket, and a through-beam sensor;

[0031] A conveying track is formed between multiple conveying wall panels, and a curved plate chain is provided on the conveying track. The curved plate chain is provided with plastic slots. An egg pressing tray is also provided on the conveying track. Supports are provided on both sides of the conveying track, and through-beam sensors are installed on the supports.

[0032] In some embodiments, the empty egg tray processing unit includes an empty tray rejection component and a tray stacking component;

[0033] The empty tray rejection assembly includes a frame; the frame has at least two openings, and a valve cylinder is also provided inside the frame. The telescopic end of the valve cylinder is hinged to a connecting crank, and a movable door is provided on the connecting crank. The movable door is located at the opening. A container for residual egg trays is provided at the end of the frame. A rejection mechanism is also provided inside the frame, which includes a rejection frame plate, a rejection motor, a rejection sprocket, a rejection main shaft, a straight brush, and a rejection chain. The rejection frame plate is installed inside the frame, and the rejection motor is installed on the outer periphery of the rejection frame plate. The output end of the rejection frame plate is connected to the rejection sprocket through the rejection main shaft. A rejection chain is provided between multiple rejection sprockets, and a straight brush is provided on the rejection main shaft.

[0034] The stacking assembly includes a base plate, guide plates, a stacking cylinder, and a non-powered conveyor line; the base plate is located at the lower end of the frame, and the base plate is provided with multiple guide plates that cooperate with the opening; the stacking cylinder is installed on the base plate and is used to push the egg stack located in the guide plates; the base plate is also provided with a non-powered conveyor line.

[0035] In some embodiments,

[0036] S1. The egg stack to be processed is sent into the equipment through the egg stack conveying and positioning push unit;

[0037] S2. The egg stack is received by the egg stack lifting, rotating and destacking assembly, and is lifted layer by layer, rotated 90° between adjacent layers, and then the top single-layer egg tray is disassembled and separated one by one.

[0038] S3. Transfer the disassembled single-layer egg tray to the egg tray conveyor assembly;

[0039] S4. The egg tray conveying assembly conveys the egg tray containing eggs to the working station of the feeding robot assembly, where the feeding robot assembly picks up the eggs from the egg tray and accurately places them onto the egg conveying line.

[0040] S5. After the eggs are collected, the empty egg trays are conveyed to the next stage by the egg tray conveyor assembly, and the presence of any egg residue in the empty trays is detected simultaneously. Based on the detection results, the empty trays are then sorted out.

[0041] S6. For qualified empty trays with no residue, the empty tray rejection component pushes them into the stacking tray component for stacking and then pushes them out; for egg trays with egg residue detected, they are introduced into a special residual egg tray container for recycling.

[0042] Compared with existing technologies, the high-speed egg depalletizing and feeding machine provided by this invention can directly receive stacked egg pallets and automatically complete layer-by-layer lifting and 90° staggered rotation through the cooperation of built-in lifting components and rotating devices. This effectively solves the jamming problem caused by overly tight egg pallet stacks, creating conditions for subsequent stable depalletizing, significantly improving the overall feeding cycle time, and meeting the high-speed production capacity demand of more than 140,000 eggs per hour. The egg pallets are rotated 90° before depalletizing, so that the directions of adjacent egg pallets are staggered, avoiding mismatch between the suction nozzle or clamp and the lower egg pallet during depalletizing. The feeding robot component and the egg tray conveying component work precisely together to achieve synchronous control, avoiding collisions of eggs during transfer and greatly reducing the breakage rate. From whole-pallet feeding, automatic depalletizing, egg picking and feeding to empty tray recycling and stacking, the entire process of this application does not require manual intervention. It not only reduces labor intensity but also avoids hygiene risks and efficiency fluctuations caused by human operation, meeting the requirements of the food processing industry for automation and clean production. Attached Figure Description

[0043] Figure 1 This is an overall schematic diagram of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the egg stack conveying component of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the egg stack pushing component of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the egg stack positioning component structure of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the monitoring component structure of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the overall egg stack processing unit of the high-speed egg depalletizing and feeding machine provided in this embodiment of the invention;

[0049] Figure 7 This is a schematic diagram of the first swing arm assembly of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of the lifting component structure of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0051] Figure 9 This is a schematic diagram of the intermittent forward and reverse rotation gearbox structure of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0052] Figure 10 This is a schematic diagram of the rotating component structure of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0053] Figure 11 This is a schematic diagram of the depalletizing component of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0054] Figure 12 This is a schematic diagram of the depalletizing suction nozzle assembly of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0055] Figure 13 This is a schematic diagram of the second swing arm assembly of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0056] Figure 14 This is a schematic diagram of the operation of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0057] Figure 15This is a schematic diagram of the end effector structure of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0058] Figure 16 This is a schematic diagram of the assembly of the top drive sprocket and the top adjusting sprocket of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0059] Figure 17 This is a schematic diagram of the empty egg tray processing unit of the high-speed egg depalletizing and feeding machine provided in this embodiment of the invention;

[0060] Figure 18 This is a schematic diagram of the rejection frame structure of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0061] Figure 19 This is a schematic diagram of the gate structure of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0062] Figure 20 This is a schematic diagram of the stacking tray assembly of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0063] Figure 21 This is a schematic diagram of the egg tray conveying assembly of the high-speed egg depalletizing and feeding machine provided in an embodiment of the present invention;

[0064] Figure 22 This is a schematic diagram of the transport trajectory of the egg stack processing unit of the high-speed egg depalletizing and feeding machine provided in this embodiment of the invention.

[0065] Explanation of reference numerals in the attached drawings: 1. Egg stack conveying, positioning, and pushing unit; 11. Egg stack conveying assembly; 101. Frame; 102. First conveyor belt; 103. Second conveyor belt; 104. Side wall baffle; 105. End baffle; 12. Egg stack positioning assembly; 121. Positioning cylinder; 122. Positioning crank; 123. Positioning rotating rod; 124. Positioning baffle; 13. Egg stack pushing assembly; 131. Frame; 132. Column; 133. Motor plate; 134. Servo motor; 135. Pushing crank; 136. Pushing plate; 14. Monitoring assembly; 141. First sensor; 142. Second sensor; 143. Third sensor; 144. Fourth sensor; 145. Fifth sensor; 2. Frame; 21. 1. Wall panel assembly; 22. Second wall panel assembly; 3. Egg stack processing unit; 31. Rotating assembly; 311. Egg stack tray; 3111. Guide; 3112. Fixing sleeve; 3113. Egg stack rotating crank handle; 3114. Pull rod; 3115. Egg stack rotating crank gear; 3116. Egg stack rotating drive gear; 3117. Transmission square shaft; 32. Lifting assembly; 321. Intermittent forward and reverse gearbox; 3211. Outer frame; 3212. Output shaft assembly; 3213. Input shaft assembly; 3214. Intermediate shaft assembly; 322. Drive sprocket; 3221. Transmission sprocket; 3222. Transmission chain; 323. Destacking main shaft; 3231. Main shaft gear; 3232. First stage reduction gear; 3233. First stage... 3234. Reducer pinion; 3235. Secondary reducer gear; 3236. Secondary reversing gear; 324. Rotating vertical shaft; 3241. Intermittent output passive bevel gear; 3242. Intermittent output bevel gear; 3243. Driving crank; 325. Rotating upper pull rod; 3251. Passive crank; 3252. Rotating hollow shaft; 326. First swing arm assembly; 3261. First vertical swing arm; 3262. First horizontal swing arm; 32621. First horizontal swing rod; 32622. First horizontal swing connecting rod; 3263. First horizontal swing cam; 3264. First lower parallel connecting rod; 33. Destacking assembly; 331. Intake pipe stretcher; 332. Front and rear fixing plates; 333. Cylinder; 3331. Right fixing plate; 333 11. Right clamping plate; 3332. Clamping plate opening and closing lever; 3333. Left clamping plate; 3334. Destacking nozzle assembly; 33341. Plastic square tube; 33342. Air inlet; 33343. Plastic connector; 33344. Nozzle; 34. Feeding robot assembly; 341. Second swing arm assembly; 3411. Second left and right swinging cam; 3412. Second up and down swinging arm; 3413. Second left and right swinging arm; 34131. Second left and right swinging rod; 3414. Second left and right swinging connecting rod; 3415. Second lower parallel connecting rod; 342. Adjusting parallel rod; 343. End effector; 3431. Top drive sprocket; 3432. Top adjusting sprocket; 3433. Adjusting crank; 3434. Spacing adjustment rod;3435. Hinge link; 3436. Feeding nozzle assembly; 35. Egg conveyor line; 4. Egg tray conveyor assembly; 41. Conveyor wall panel; 411. Bending plate chain; 412. Plastic slot; 42. Egg pressing tray component; 43. Bracket; 44. Through-beam sensor; 5. Empty egg tray processing unit; 51. Empty tray rejection assembly; 511. Frame; 512. Opening; 513. Valve cylinder; 514. Connecting... 515. Crankshaft; 516. Movable door; 517. Residual egg tray container; 518. Rejection mechanism; 5171. Rejection frame plate; 5172. Rejection motor; 5173. Rejection sprocket; 5174. Rejection spindle; 51741. Straight brush; 5175. Rejection chain; 52. Stacking assembly; 521. Base plate; 522. Guide plate; 523. Pushing cylinder; 524. Non-powered conveyor line. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0067] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a high-speed egg depalletizing and feeding machine according to an embodiment of the present invention. A high-speed egg depalletizing and feeding machine includes:

[0068] Egg stack conveying, positioning and pushing unit 1, which is used to receive and arrange multiple sets of egg stacks at predetermined intervals;

[0069] Frame 2, close to egg pallet conveying and positioning push unit 1, has an egg tray conveying assembly 4 inside it;

[0070] Egg stack processing unit 3 is set inside frame 2 and docked with egg stack conveying and positioning push unit 1. Egg stack processing unit 3 includes a rotating device, lifting component 32, destacking component 33 and loading robot component 34. The rotating device and lifting component 32 are used to lift the egg stack layer by layer and rotate it 90° between adjacent layers. The destacking component 33 is used to grab a single layer of egg tray from the egg stack after it has been lifted and rotated and transfer it to egg tray conveying component 4. The loading robot component 34 is used to pick up eggs from the egg tray on egg tray conveying component 4 and place the eggs on egg conveying line 35.

[0071] The empty egg tray processing unit 35 is used to receive empty egg trays from the egg tray conveying assembly 4 and stack them.

[0072] In this embodiment, the egg stacks are fed into the machine by the egg stack conveying and positioning push unit 1, and then into the egg stack lifting, rotating, and destacking assembly 33. The egg stack lifting, rotating, and destacking assembly 33 places the egg stacks layer by layer into the egg tray conveying assembly 4. The egg tray conveying assembly 4 then sends the egg trays into the feeding robot assembly 34, where the feeding robot assembly 34 sucks the eggs into the conveyor line. Empty trays are continued to be conveyed by the egg tray conveying assembly 4, and the assembly checks whether there are any eggs left in the empty trays. The empty tray rejection assembly 51 pushes the empty trays into the stacking tray assembly 52 to stack the empty egg trays and then pushes them out. The egg trays with residual eggs are placed into the corresponding containers. The equipment effectively solves the jamming problem caused by the egg stacks being stacked too tightly, significantly improves the overall feeding cycle, and meets the high-speed production capacity requirement of more than 140,000 eggs per hour. The egg stacks are before being destacking. A 90° rotation is performed to stagger the directions of adjacent egg stacks, preventing mismatch between the suction nozzle 33344 or clamp and the lower egg stack during destacking. The loading robot assembly 34 and the egg tray conveying assembly 4 work precisely together to achieve synchronous control, preventing collisions between eggs during transfer and significantly reducing the breakage rate. This application eliminates the need for manual intervention throughout the entire process, from whole-stack feeding, automatic destacking, egg suction and loading to empty tray recycling and stacking. This not only reduces labor intensity but also avoids hygiene risks and efficiency fluctuations caused by human operation, meeting the requirements of the food processing industry for automated and clean production.

[0073] In one embodiment, please refer to Figures 2-5To improve the working efficiency of the egg stack conveying, positioning, and pushing unit 1, the egg stack conveying, positioning, and pushing unit 1 includes an egg stack conveying assembly 11, three egg stack positioning assemblies 12, two egg stack pushing assemblies 13, and a monitoring assembly 14. The egg stack conveying assembly 11 includes a frame 101, a first conveyor belt 102, a second conveyor belt 103, a side wall baffle 104, and an end baffle 105. The frame 101 is respectively equipped with an electrically controlled first conveyor belt 102 and a second conveyor belt 103, and the speed of the second conveyor belt 103 is greater than that of the first conveyor belt 103. The first conveyor belt 102 is equipped with a side wall baffle 104, and the second conveyor belt 103 has an end baffle 105 at the end away from the first conveyor belt 102. Each egg stack positioning assembly 12 includes a positioning cylinder 121, a positioning crank 122, a positioning rotating rod 123, and a positioning baffle 124. The positioning cylinder 121 is mounted on the frame 101, and the telescopic end of the positioning cylinder 121 is hinged to the positioning crank 122. The other end of the positioning crank 122 is connected to the positioning baffle 124 via the positioning rotating rod 123. The baffle 124 is connected, and the positioning baffle 124 can be rotated by the extension and retraction of the positioning cylinder 121, with a rotation angle of 90°. Any egg stack pushing component 13 includes a frame 131, a column 132, a motor plate 133, a servo motor 134, a pushing crank 135, and a pushing plate 136. The frame 131 is mounted on the frame 101 via the column 132 and is located on the second conveyor belt 103. The motor plate 133 is mounted on the frame 131, and the servo motor 134 is mounted on the motor plate 133. The output end of the servo motor 134 is connected to the pusher plate 136 through the pusher crank 135. When the servo motor 134 rotates, it can push the pusher plate 136 to reciprocate linearly. The monitoring component 14 includes a first sensor 141, a second sensor 142, a third sensor 143, a fourth sensor 144 and a fifth sensor 145, wherein the first sensor 141, the second sensor 142, the third sensor 143, the fourth sensor 144 and the fifth sensor 145 are all fixed on the egg stack pushing component 13.

[0074] In this embodiment, the speed of the second conveyor belt 103 is faster than the speed of the first conveyor belt 102. The egg stacks first enter the two-stage conveyor mechanism composed of the first conveyor belt 102 and the second conveyor belt 103. The second conveyor belt 103 runs at a higher speed than the first conveyor belt 102, causing the continuously entering egg stacks to automatically spread out on the second conveyor belt 103, and finally neatly align at the end baffle 105, creating conditions for subsequent precise positioning. Three egg stack positioning components 12 are arranged sequentially along the conveying direction. Each positioning component drives the positioning crank 122 through the positioning cylinder 121, which drives the positioning rotating rod 123 to rotate the positioning baffle 124 within the range of 0°-90°. When the egg stack reaches the designated workstation... The positioning baffle 124 rises and is perpendicular to the conveying surface, limiting and correcting the posture of the egg stack from the side or end to ensure its positional accuracy meets the requirements of subsequent depalletizing. Two egg stack pushing components 13 correspond to different workstations. The servo motor 134 converts the rotational motion into the linear reciprocating motion of the pushing plate 136 through the pushing crank 135, smoothly pushing the positioned egg stack to the inlet of the downstream egg stack processing unit 3 with high repeatability positioning accuracy. The servo control can adjust the pushing speed in time to avoid impact that could damage the eggs. The monitoring component 14 contains five sensors, which are installed at key locations, such as the pushing start point, positioning completion point, and pushing end point, to detect in real time whether the egg stack exists, whether it is in place, and whether the pushing is complete. The system receives status signals and feeds them back to the control system to achieve closed-loop process control and fault early warning. Initially, the positioning cylinder 121 extends, opening all the egg stack positioning baffles 124. When the first egg stack is detected by the first sensor 141, the first positioning cylinder 121 retracts, closing the egg stack positioning baffles 124. As the second egg stack moves forward, it is blocked by the egg stack positioning baffles 124. Simultaneously, when the second sensor 142 detects the second egg stack, the second positioning cylinder 121 retracts, closing the second egg stack positioning baffle 124, and so on. When the fourth sensor 144 detects an egg stack, the egg stack positioning conveyor motor stops, and the egg stack conveyor belt continues... When the fifth sensor 145 detects the egg stack, the egg stack conveyor belt stops, indicating that the first egg stack of the next cycle has been positioned. Up to this point, the four egg stacks will be arranged at a fixed interval. After the four egg stacks are positioned at a fixed interval, the pusher servo motor 134 in the egg stack pushing component 13 moves through the pusher crank 135 to convert the rotational motion of the pusher servo motor 134 into linear motion, driving the pusher plate 136 to push the entire egg stack out into the next stage. After being pushed out, the pusher servo motor 134 continues to rotate back to the initial position. At this time, the egg stack positioning component 12 extends, causing the egg stack positioning baffle 124 to be in an open state. The egg stack conveying component 11 continues to convey the egg stack, entering the next egg stack positioning cycle.The differential conveyor belt and positioning baffle 124 work together to effectively eliminate the problem of positional deviation of incoming egg stacks, ensuring that each egg stack enters the destabilizing station in a uniform posture, laying the foundation for high-speed and stable destabilization. The dual-push components, combined with servo drive, shorten waiting time. Simultaneously, it can adapt to egg stacks of different heights, possessing good flexibility. Differential buffering avoids hard collisions, and servo push achieves smooth acceleration and deceleration, with no violent impact throughout the process, significantly reducing the risk of egg cracking or breakage caused by mechanical movements. Multiple sensors monitor the material status in real time and are linked with the PLC control system to achieve intelligent logic such as push only when material is available, start only when material is in place, and stop in case of abnormalities, greatly improving the equipment's operational reliability and unmanned operation level.

[0075] In one embodiment, please refer to Figure 3To improve the processing efficiency of egg stacks, in some embodiments, the frame 2 is further provided with a first wall panel assembly 21 and a second wall panel assembly 22. The first wall panel assembly 21 is provided with an egg stack processing unit 3, and the second wall panel assembly 22 is provided with a feeding robot assembly 34. The egg stack processing unit 3 includes a rotating assembly 31; the rotating assembly 31 includes a plurality of egg stack trays 311, wherein each egg stack tray 311 is provided with a guide 3111 and a fixing sleeve 3112 is provided at its lower end. The lower end of the fixing sleeve 3112 is hinged to an egg stack rotating handle 3113, and a pull rod 3114 is hinged between the plurality of egg stack rotating handles 3113. The pull rod 3114 furthest from the outermost egg stack tray 311 is provided with a guide 3111. The system includes a rotating crank gear 3115 for stacking eggs, an outer peripheral drive gear 3116 for stacking eggs, and a drive shaft 3117 for stacking eggs. The drive shaft 3117 is connected to a lifting assembly 32. The lifting assembly 32 includes an intermittent forward / reverse gearbox 321, a drive sprocket 322, a destacking main shaft 323, a rotating vertical shaft 324, a stretcher pull rod 3114, and a first swing arm assembly 326. The intermittent forward / reverse gearbox 321 is installed inside the first wall panel assembly 21 and includes an outer frame 3211, an output shaft assembly 3212, an input shaft assembly 3213, and an intermediate shaft assembly 3214. The output shaft assembly 3212 includes an output shaft assembly 3212, an input shaft assembly 3213, and an intermediate shaft assembly 3214. The output shaft body comprises a main body, a reverse brake pad, a reverse gear, and a forward transition gear; the output shaft body is housed within the outer frame 3211, and the output shaft body is sequentially provided with a reverse brake pad, a reverse gear, and a forward transition gear; the input shaft body comprises an input shaft body, a forward brake pad, a forward incomplete gear, a reverse brake pad, and a reverse incomplete gear, the input shaft body is housed within the outer frame 3211 and located below the output shaft body, the input shaft body is provided with a forward brake pad, a forward incomplete gear, a reverse brake pad, and a reverse incomplete gear; the intermediate shaft assembly 3214 comprises an intermediate shaft body, a forward gear, a forward transmission gear, and a forward rotating plate; the intermediate shaft body is housed within the outer frame 3211, and the intermediate shaft body is sequentially provided with a reverse brake pad, a reverse gear, a reverse brake pad, and a reverse incomplete gear; It is equipped with a forward rotation gear, a forward rotation transmission gear, and a forward rotation brake pad; the drive sprocket 322 is located outside the first wall panel assembly 21 and is connected to the destacking main shaft 323, and the drive sprocket 322 cooperates with the transmission sprocket 3221 through the transmission chain 3222. The transmission sprocket 3221 is connected to the intermittent forward and reverse gearbox 321. The destacking main shaft 323 is equipped with a main shaft gear 3231. A first-stage reduction gear 3232 is provided on the outer periphery of the main shaft gear 3231. The first-stage reduction gear 3232 is connected to a first-stage reduction gear 3233 through a shaft. A second-stage reduction gear 3234 is provided on the outer periphery of the first-stage reduction gear 3233. A second-stage reversing gear 3235 is provided on the outer periphery of the second-stage reduction gear 3234.A rotating vertical rod is vertically installed outside the first wall panel assembly 21. An intermittent output passive bevel gear 3241 is mounted on the rotating vertical shaft 324, and an intermittent output bevel gear 3242 is mounted around the intermittent output passive bevel gear 3241. An active crank 3243 is hinged to the upper end of the rotating vertical rod, and a rotating upper pull rod 325 is hinged to the active crank 3243. A passive crank 3251 is located at the end of the rotating upper pull rod 325, and a rotating hollow shaft 3252 is located at the lower end of the passive crank 3251. The lower end of the rotating hollow shaft 3252 is connected to the rotating assembly 31. The first swing arm assembly 326 includes a first vertical swing arm 3261, a first horizontal swing arm 3262, a first horizontal swing cam 3263, and a first lower parallel connecting rod 3264. The first vertical swing arm 3261 is disposed between the first wall panel assemblies 21, and the first horizontal swing arm 3261 is hinged to the first horizontal swing arm 3262. The first horizontal swing arm 3262 is hinged to the first horizontal swing arm 3262, and the first horizontal swing connecting rod 32622 is hinged to the first horizontal swing arm 3262. The first horizontal swing cam 3263 is disposed between the first vertical swing arm 3261 and the first horizontal swing arm 3262. Below the first vertical swing arm 3261, and at the end of the first horizontal swing link 32622, a first lower parallel link 3264 is provided. The first lower parallel link 3264 is connected to the destabilizing assembly 33. The destabilizing assembly 33 includes an air inlet stretcher 331, front and rear fixing plates 332, and a cylinder 333. The air inlet stretcher 331 is located on the first lower parallel link 3264. The lower end of the air inlet stretcher 331 is provided with the front and rear fixing plates 332. The cylinder 333 is located above the front and rear fixing plates 332. The telescopic end of the cylinder 333 is connected to the right fixing plate 3331. A right clamping plate 33311 is provided at the lower end of plate 3331. A clamping plate opening and closing lever 3332 is hinged to the right fixed plate 3331. A left clamping plate 3333 is hinged to the end of the clamping plate opening and closing lever 3332. Multiple destacking nozzle assemblies 3334 are provided at the lower end of the front and rear fixed plates 332. Each destacking nozzle assembly 3334 includes a plastic square tube 33341. An air inlet 33342 is provided at the upper end of the plastic square tube 33341. A plastic connector 33343 is provided at the lower end of the plastic square tube 33341. A nozzle 33344 is provided at the lower end of the plastic connector 33343.

[0076] In this embodiment, after the entire stack of eggs is pushed to the egg stack processing unit 3, the following actions are performed sequentially: the entire stack of eggs is lifted one layer higher; the top egg tray is rotated 90° relative to the lower layer to avoid stacking misalignment that could cause stacking jamming; the stacking component 33 grabs the top egg tray stack; the grabbed egg tray is sent to the egg tray conveying component 4; the lifting mechanism descends to prepare for the next cycle; the rotating component 31, which mainly realizes the 90° rotation of the egg tray, is composed of multiple egg stack trays 311, guides 3111, fixing sleeves 3112, egg stack rotating crank handles 3113, pull rods 3114, egg stack rotating crank gears 3115, egg stack rotating drive gears 3116, and transmission square shafts 3117. All egg stack trays 311 share a common set of pull rods. The lever 3114 and the crank mechanism are linked. When the outermost egg stack rotating crank gear 3115 is driven, it drives the transmission square shaft 3117 to rotate through the egg stack rotating drive gear 3116. The transmission square shaft 3117 is connected to the intermittent output mechanism in the lifting assembly 32, which outputs rotational motion at a specific phase. The rotational force is coordinated by the crank gear, lever 3114, each crank, fixed sleeve 3112 and egg stack tray 311 to make all trays rotate synchronously by 90°. The guide 3111 ensures that the egg trays do not deviate radially during rotation, ensuring positioning accuracy. This allows the egg trays of adjacent layers to be staggered, preventing the suction nozzle 33344 or clamp from mismatching with the lower tray during destacking and reducing the risk of jamming. The lifting assembly 32 is mainly used to achieve layer-by-layer lifting of the entire stack.

[0077] The intermittent forward and reverse gearbox 321 is the core control unit. The input shaft assembly 3213 is equipped with a forward incomplete gear and a reverse incomplete gear, corresponding to the lifting and lowering strokes, respectively. These, along with forward and reverse brake pads, lock in the non-working range to prevent inertial rotation. In the intermediate shaft assembly 3214, the forward gear meshes with the forward incomplete gear of the input shaft, driving the forward transmission gear and thus driving the output shaft to rotate forward. The reverse path is similar, but transmission is achieved through the reverse gear. The output shaft assembly 3212 integrates a reverse brake pad, a reverse gear, and a forward transition gear on the output shaft body, achieving dual... For output and braking, when the motor rotates continuously, the incomplete gear on the input shaft periodically meshes with the intermediate shaft, and the output shaft intermittently rotates forward and reverse, forming a cycle; the intermittent forward and reverse gearbox 321 has two sets of interoperating incomplete gears to achieve continuous rotation of the input shaft and intermittent forward and reverse rotation of the output shaft. The forward rotation brake pad, the forward rotation incomplete gear, the forward rotation brake pad, and the forward rotation gear form one set of intermittent transmission gear set, named intermittent transmission gear set A; the reverse rotation brake pad, the reverse rotation incomplete gear, the reverse rotation brake pad, and the reverse rotation gear form another set of intermittent transmission gear set, named intermittent transmission gear set B;

[0078] When the incomplete forward gear meshes with the forward gear, when the input shaft body rotates clockwise one revolution, the intermediate shaft body will rotate counterclockwise 1 / 4 revolution. At this time, the output shaft body will rotate clockwise 1 / 4 revolution through the transmission of the forward transmission gear and the forward transition gear. At this time, the intermittent transmission gear set B is in the disengaged state.

[0079] If the input shaft body continues to rotate clockwise by 1 / 4 turn, the intermediate shaft body will stop, and the intermittent transmission gear set B will be disengaged. Therefore, the output shaft body will remain stationary during this time.

[0080] The input shaft body continues to rotate clockwise by 1 / 4 turn, intermittent transmission gear set A is in the disengaged state, while intermittent transmission gear set B is engaged. At this time, the output shaft body will rotate counterclockwise by 1 / 4 turn.

[0081] The input shaft body continues to rotate clockwise by 1 / 4 turn. The intermittent transmission gear set A remains in the disengaged state, while the intermittent transmission gear set B enters the intermittent stop state. At this time, the output shaft body will be in the stop state.

[0082] The input shaft body continues to rotate clockwise and returns to its initial state, and this cycle continues. In the whole process, the output shaft body first rotates clockwise by 1 / 4 turn and then stops by 1 / 4 turn, then rotates counterclockwise by 1 / 4 turn and then stops by 1 / 4 turn, thus realizing the intermittent forward and reverse rotation of the output shaft body.

[0083] The drive sprocket 322 is driven by a motor, which drives the transmission sprocket 3221 via a chain, thereby driving the input shaft of the intermittent forward and reverse gearbox 321. The destacking main shaft 323 is equipped with multi-stage reduction gears to reduce the speed and increase the torque. To change the transmission direction, the intermittent output bevel gear 3242 meshes with the intermittent output passive bevel gear 3241, converting the horizontal rotation output of the gearbox into vertical rotation. The top of the vertical shaft 324 is connected to the drive crank 3243, the rotating upper pull rod 325, the passive crank 3251, and the rotating hollow shaft 3252, which work together to finally transmit the rotational motion to the transmission square shaft 3117 of the rotating assembly 31, driving the egg tray to rotate 90°. After the lifting action is completed, the system triggers the rotation action in the pause interval to ensure that the eggs rotate. The stack is stably supported to prevent overturning due to dynamic rotation. The first swing arm assembly 326 and the destacking assembly 33 realize single-disc gripping and transfer. The first up-and-down swing arm 3261 is driven by the lifting spindle or cam to swing up and down. The first left-and-right swing arm 3262, cam and connecting rod cooperate to convert the up-and-down motion into horizontal forward and backward movement. The first lower parallel connecting rod 3264 keeps the destacking assembly 33 in a horizontal position during the movement to prevent tilting and spilling eggs. The destacking assembly 33 mainly relies on a combination of pneumatic clamping and vacuum suction cup gripping. When the cam rotates, it will drive the swing arm to rise 5 times, each time rising to the height of one layer of egg stack. Each rise takes 1.5 seconds and pauses for 1.5 seconds. Finally, it returns to the initial position in 1.5 seconds, and repeats this cycle.

[0084] In one embodiment, please refer to Figures 13-16 To improve feeding efficiency, the feeding robot assembly 34 includes a second swing arm assembly 341, an adjusting parallel rod 342, and an end effector 343. The second swing arm assembly 341 includes a second left-right swing cam 3411, a second up-down swing arm 3412, and a second left-right swing arm 3413. The second left-right swing cam 3411 is disposed between the second wall panel assemblies 22, and the second up-down swing arm 3412 is movably connected to the second wall panel assemblies 22. The second left-right swing arm 3413 is hinged to the second up-down swing arm 3412, and a second left-right swing rod 34131 is hinged to the second left-right swing arm 3413. A second left-right swing connecting rod 3414 is hinged to the second left-right swing rod 34131, and a second parallel lower connecting rod 3415 is connected to the end of the second left-right swing connecting rod. An adjusting rod is connected to the second parallel lower connecting rod 3415. A parallel rod 342 is adjusted, and an end effector 343 is provided at the lower end of the parallel rod 342. The end effector 343 includes a top drive sprocket 3431, a top adjusting sprocket 3432, an adjusting crank 3433, a spacing adjusting rod 3434, a hinge connecting rod 3435, and an upper suction nozzle 33344 assembly. The top drive sprocket 3431 and the top adjusting sprocket 3432 are both provided on the adjusting parallel rod 342 and are connected by chain drive. An adjusting crank 3433 is provided at the lower end of the top adjusting sprocket 3432. The spacing adjusting rod 3434 is hinged to both ends of the adjusting crank 3433. The lower end of the spacing adjusting rod 3434 is hinged to the hinge connecting rod 3435, and the lower end of the hinge connecting rod 3435 is provided with a feeding suction nozzle assembly 3436. The feeding suction nozzle assembly 3436 is used to move the eggs in the egg stack to the egg conveyor line 35.

[0085] In this embodiment, the second left-right swing cam 3411, as the main drive wheel, is typically driven by a motor or camshaft and is installed between the second wall panels, providing reciprocating swing input in the horizontal plane. The second up-down swing arm 3412 is hinged to the wall panel and is driven by the main drive wheel or connecting rod to perform up-down pitching motion, controlling the vertical height of the end effector 343. The entire swing arm system simulates the movement of a human arm, first positioning itself directly above the egg tray, vertically downward to suck up the egg, and then horizontally moving it to the conveyor line, without any sudden stops or impacts. The top drive sprocket 3431 is driven by external power. The adjusting sprocket 3432 is connected to the drive sprocket via a closed-loop chain, and the two rotate in strict synchronous opposite directions. The adjusting crank 3433 is fixed below the top adjusting sprocket 3432 and swings left and right as the sprocket rotates. There are two spacing adjusting rods 3434: each end is hinged to both sides of the adjusting crank 3433, forming a symmetrical structure. The hinge connecting rod 3435 is used to connect the spacing adjusting rods 3434 and the feeding nozzle 33344 assembly 3436, transmitting the horizontal displacement to the nozzle 33344 arrangement frame 2. When the top drive sprocket 3431 rotates, the chain drives the top... The adjustment sprocket 3432 rotates in the opposite direction, the adjustment crank 3433 swings left and right, the two side spacing adjustment rods 3434 expand or contract synchronously, and the hinge connecting rod 3435 pushes each suction nozzle 33344 unit in the suction nozzle 33344 assembly to move laterally at equal distances. When the spacing adjustment sprocket rotates clockwise, it will drive the feeding single-row suction nozzle 33344 assembly and the feeding single-row suction nozzle 33344 assembly to move to both sides, thereby driving the entire feeding single-row suction nozzle 33344 assembly to spread evenly to both sides. Conversely, when it rotates counterclockwise, it will cause the feeding single-row suction nozzle 33344 assembly to spread evenly to both sides. The uniform shrinkage of the feeding suction nozzle 33344 assembly 3436 consists of multiple vacuum suction nozzles 33344 arranged in a matrix, each suction nozzle 33344 being independently ventilated. The suction nozzles 33344 are connected to a vacuum generator via hoses, generating negative pressure to adsorb the top of the eggs after ventilation. The suction nozzles 33344 are mounted on a sliding bracket 43 and driven by the aforementioned adjusting mechanism to achieve overall width adjustment. In use, the second swing arm assembly 341 drives the end effector 343 to move directly above the destacking egg tray, slightly above the egg surface. The control system then activates the adjusting motor to drive the sprocket to rotate. The spacing of the suction nozzles 33344 is automatically adjusted to match the current egg tray hole position. The swing arm presses down, the suction nozzles 33344 contact the eggs, the vacuum is opened and the entire tray of eggs is adsorbed. The swing arm is raised and swings horizontally, transferring the eggs to the top of the egg conveyor line 35. The vacuum is closed, and the eggs fall smoothly into the egg cup or buffer belt of the conveyor line. The spacing of the suction nozzles 33344 is adjusted through the chain synchronous spacing adjustment mechanism. One set of equipment can handle the mainstream egg stack size, reducing the production line switching cost. The swing arm mechanism uses a combination of connecting rods and parallel rods to ensure that the suction nozzles 33344 maintain a horizontal posture throughout the movement, preventing the eggs from tilting and slipping.The suction and release process involves no rigid collisions. Combined with the flexible suction nozzle 33344, it significantly reduces microcracks and shell breakage. The mechanical linkage response is rapid, with a single cycle completed within 1-2 seconds. It should be noted that during the process of the loading robot assembly 34 picking up egg stacks and placing them into the egg tray conveyor assembly 4, the egg tray conveyor assembly 4 transports the distance of two egg stacks. Similarly, during the process of the loading robot assembly 34 returning to the egg stack, the egg tray conveyor assembly 4 transports the distance of two egg stacks again. This ensures that there are four empty positions each time an egg stack is placed into the egg tray conveyor assembly 4.

[0086] In one embodiment, please refer to Figures 17-20 To improve the processing efficiency of empty egg trays, the egg tray conveying assembly 4 includes conveying wall panels 41, egg pressing tray components 42, brackets 43, and through-beam sensors 44; a conveying track is formed between multiple conveying wall panels 41, and a curved plate chain 411 is provided on the conveying track. The curved plate chain 411 has plastic slots 412. The egg pressing tray component 42 is also provided on the conveying track. Brackets 43 are provided on both sides of the conveying track, and through-beam sensors 44 are installed on the brackets 43. The empty egg tray processing unit 35 includes empty... The system includes a tray removal assembly 51 and a tray stacking assembly 52. ​​The empty tray removal assembly 51 includes a frame 131. The frame 131 has at least two openings 512, and a valve cylinder 513 is also provided inside the frame 131. The telescopic end of the valve cylinder 513 is hinged to a connecting crank 514, and a movable door 515 is provided on the connecting crank 514. The movable door 515 is located at the opening 512. A residual egg tray container 516 is provided at the end of the frame 131, and a removal machine is also provided inside the frame 131. Structure 517 includes a rejection frame plate 5171, a rejection motor 5172, a rejection sprocket 5173, a rejection spindle 5174, a straight brush 51741, and a rejection chain 5175. The rejection frame plate 5171 is installed inside the frame 131, and the rejection motor 5172 is installed on the outer periphery of the rejection frame plate 5171. The output end of the rejection frame plate 5171 is connected to the rejection sprocket 5173 through the rejection spindle 5174, and a rejection chain 5175 is arranged between multiple rejection sprockets 5173. The main shaft 5174 is equipped with a straight brush 51741; the stacking assembly 52 includes a base plate 521, a guide plate 522, a stacking cylinder 523, and a non-powered conveyor line 524; the base plate 521 is located at the lower end of the frame 131, and the base plate 521 is equipped with a plurality of guide plates 522 that cooperate with the opening 512; the stacking cylinder 523 is installed on the base plate 521 and is used to push the egg stack located in the guide plate 522; the base plate 521 is also equipped with a non-powered conveyor line 524.

[0087] In this embodiment, the egg tray conveying assembly 4 is used to stably transport a single-layer egg tray. The conveying track is a closed track formed by multiple conveying wall panels 41 installed in parallel. A curved plate chain 411 is laid inside the track, and a plastic slot 412 is fixed on it to support and limit the bottom of the egg tray to prevent slippage. An elastic or rigid egg tray pressing component 42 is set above the chain to gently press the egg tray from above and prevent it from jumping during high-speed operation. The through-beam sensor 44 on the bracket 43 detects the egg tray in real time to detect whether there are any residual eggs that have not been sucked up. After the egg tray enters the frame 131, it first passes through the rejection mechanism 51. 7. The removal motor 5172 drives the removal spindle 5174 to rotate. The spindle drives the removal sprocket 5173 and the straight brush 51741 to rotate synchronously, pushing the egg stack with residual eggs into the residual egg tray container 516. The empty tray removal component 51 operates to push the empty tray out of the egg tray conveyor component 4. The extension end of the cylinder 333 drives the movable door 515 to open the corresponding opening 512 through the connecting crank 514. The empty tray falls into the bottom plate 521 below through the opening 512 for centralized recycling and processing, and enters the non-powered conveyor line 524. The pushed-out empty stack can be removed manually and reused for egg packing.

[0088] To better understand this invention, the following is combined with... Figures 1 to 22 The technical solution of the present invention will be described in detail below:

[0089] S1. Multiple stacks of egg pallets enter the egg pallet conveying and positioning unit 1 from the upstream conveyor line. The egg pallets first pass through the first conveyor belt 102 for initial buffering, and then enter the second conveyor belt 103. Utilizing the differential speed effect, where the speed of the second conveyor belt 103 is greater than that of the first conveyor belt 102, the continuously entering egg pallets are automatically spaced on the second conveyor belt 103. The egg pallets finally come together neatly at the end baffle 105. The three egg pallet positioning components 12 operate sequentially: when the first sensor 141 detects the first egg pallet, the first positioning baffle 124 closes; subsequent egg pallets are intercepted by subsequent positioning baffles 124 in sequence, forming a fixed-space arrangement. The monitoring component 14 provides real-time feedback on the position status to ensure arrangement accuracy.

[0090] S2. After the four egg stacks are positioned at the predetermined interval, the servo motors 134 in the two egg stack pushing components 13 are started. The servo motors 134 convert the rotational motion into the linear reciprocating motion of the pushing plate 136 through the pushing crank 135. The pushing plate 136 pushes the entire row of egg stacks synchronously and smoothly to the inlet of the egg stack processing unit 3. After the pushing is completed, the pushing plate 136 is reset, the positioning cylinder 121 extends, the positioning baffle 124 opens, and the conveyor belt continues to run, entering the next cycle.

[0091] S3. After the entire stack of eggs enters the egg stack processing unit 3, the lifting component 32 performs a cyclic operation, and the intermittent forward and reverse gearbox 321 drives the output shaft to complete the cyclic movement. During the forward rotation phase, the entire stack is lifted one layer higher through a multi-stage reduction gear, bevel gear, vertical shaft, crank, and tie rod 3114 mechanism. During the stopping phase, after the system stabilizes, the rotating component 31 is triggered to operate, and the transmission square shaft 3117 drives the egg stack rotation crank gear 3115. Then, through the tie rod 3114, all egg stack rotation handles 3113 are linked, so that all egg trays rotate synchronously by 90°. The guide 3111 ensures that there is no radial offset during the rotation.

[0092] S4. After lifting and rotating, the destacking assembly 33 starts working. The first swing arm assembly 326 drives the destacking head to descend above the top egg tray. The cylinder 333 pushes the right clamping plate 33311, which is linked to the left clamping plate 3333 by the clamping plate opening and closing lever 3332, thus achieving clamping on both sides. At the same time, the destacking suction nozzle assembly 3334 opens the vacuum to assist in adsorbing the egg tray. After being fixed by both clamping and adsorption, the swing arm lifts up and moves the egg tray horizontally into the plastic slot 412 of the egg tray conveying assembly 4. The first lower parallel connecting rod 3264 ensures that the egg tray remains horizontal during the transfer process to prevent tilting and spillage.

[0093] S5. The egg tray moves along the conveyor track with the curved plate chain 411, is pressed and stabilized by the egg tray pressing component 42, and is confirmed to be in place by the through-beam sensor 44; the loading robot component 34 is started, and the second swing arm component 341 drives the end effector 343 to move directly above the egg tray. The distance adjustment mechanism automatically adjusts the distance between the suction nozzles 33344 according to the egg tray specifications. The suction nozzles 33344 press down to contact the eggs, and the vacuum is turned on. The entire tray of eggs is sucked up synchronously. The swing arm is raised and swings laterally, transferring the eggs to the top of the egg conveyor line 35; the vacuum is turned off, and the eggs fall smoothly into the egg cups of the conveyor line; each time the loading robot completes a pick-up and drop, the egg tray conveyor component 4 advances exactly two trays' distance, ensuring that there are 4 empty spaces downstream each time the eggs are placed, avoiding congestion;

[0094] S6. Empty trays with removed eggs continue to be conveyed by egg tray conveyor assembly 4 to empty egg tray processing unit 35. The rejection mechanism 517 moves the egg stack and monitors whether there are any eggs left in the egg stack through photoelectric sensor 44. When there are no eggs left, valve cylinder 513 is activated, and the corresponding movable door 515 is opened through connecting crank 514. The waste tray falls into the bottom plate 521 through opening 512. The tray falls into the stacking channel surrounded by guide plate 522. After reaching the preset number of layers, stack pushing cylinder 523 is activated to push the entire stack of empty trays out along the non-powered conveyor line 524. The pushed-out empty stacks can be manually recycled and reused for front-end egg loading, while egg stacks with eggs enter the residual egg tray container 516.

[0095] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A high-speed egg depalletizing and feeding machine, characterized in that, include: Egg stack conveying, positioning and pushing unit, which is used to receive and arrange multiple egg stacks at predetermined intervals; The frame is located near the egg stack conveying and positioning push unit, and an egg tray conveying assembly is installed inside it. An egg stack processing unit, disposed within the frame and connected to the egg stack conveying, positioning, and pushing unit, includes a rotating device, a lifting assembly, a destabilizing assembly, and a loading robot assembly. The rotating device and the lifting assembly are used to lift the egg stack layer by layer and rotate it 90° between adjacent layers. The destabilizing assembly is used to grab a single-layer egg tray from the lifted and rotated egg stack and transfer it to the egg tray conveying assembly. The loading robot assembly is used to pick up eggs from the egg trays on the egg tray conveying assembly and place the eggs on the egg conveying line. An empty egg tray processing unit is used to receive empty egg trays from the egg tray conveying assembly and stack them.

2. The high-speed egg depalletizing and feeding machine according to claim 1, characterized in that: The egg stack conveying, positioning, and pushing unit includes an egg stack conveying component, three egg stack positioning components, two egg stack pushing components, and a monitoring component. The egg stack conveying assembly includes a frame, a first conveyor belt, a second conveyor belt, side wall baffles, and end baffles. The frame is respectively equipped with an electrically controlled first conveyor belt and a second conveyor belt, and the speed of the second conveyor belt is greater than that of the first conveyor belt. The first conveyor belt is equipped with a side wall baffle, and the end of the second conveyor belt away from the first conveyor belt is equipped with an end baffle. Each of the egg stack positioning components includes a positioning cylinder, a positioning crank, a positioning rotating rod, and a positioning baffle. The positioning cylinder is mounted on the frame, and its telescopic end is hinged to the positioning crank. The other end of the positioning crank is connected to the positioning baffle via the positioning rotating rod. The positioning baffle can be rotated by the telescopic movement of the positioning cylinder, and the rotation angle is 90°. Each of the egg stack pushing components includes a frame, a column, a motor plate, a servo motor, a pushing crank, and a pushing plate. The frame is mounted on the machine frame via the column and is located on the second conveyor belt. The motor plate is mounted on the frame and has a servo motor mounted on it. The output end of the servo motor is connected to the pushing plate via the pushing crank. When the servo motor rotates, it can push the pushing plate in a reciprocating linear motion. The monitoring components include a first sensor, a second sensor, a third sensor, a fourth sensor, and a fifth sensor, all of which are fixed to the egg stack pushing component.

3. The high-speed egg depalletizing and feeding machine according to claim 1, characterized in that: The frame is also provided with a first wall panel assembly and a second wall panel assembly. The first wall panel assembly is provided with an egg stacking processing unit, and the second wall panel assembly is provided with a feeding robot assembly.

4. The high-speed egg depalletizing and feeding machine according to claim 3, characterized in that: The egg stack processing unit includes a rotating assembly; The rotating assembly includes several egg stack trays, each of which is equipped with a guide and a fixing sleeve at its lower end. The lower end of the fixing sleeve is hinged to an egg stack rotating handle. A pull rod is hinged between the multiple egg stack rotating handles, and an egg stack rotating crank gear is provided on the pull rod furthest from the outermost egg stack tray. An egg stack rotating drive gear is provided on the outer periphery of the egg stack rotating crank gear, and a transmission square shaft is provided on the egg stack rotating drive gear. The transmission square shaft is connected to the lifting assembly.

5. The high-speed egg depalletizing and feeding machine according to claim 4, characterized in that: The lifting assembly includes an intermittent forward and reverse gearbox, a drive sprocket, a destacking spindle, a rotating vertical shaft, a stretcher tie rod, and a first swing arm assembly; The intermittent forward and reverse gearbox is installed inside the first wall panel assembly. The intermittent forward and reverse gearbox includes an outer frame, an output shaft assembly, an input shaft assembly, and an intermediate shaft assembly. The output shaft assembly includes an output shaft body, a reverse brake pad, a reverse gear, and a forward transition gear; the output shaft body is disposed within the outer frame, and the reverse brake pad, the reverse gear, and the forward transition gear are sequentially disposed on the output shaft body; The input shaft body includes an input shaft body, a forward rotation brake pad, a forward rotation incomplete gear, a reverse rotation brake pad, and a reverse rotation incomplete gear. The input shaft body is disposed within the outer frame and located below the output shaft. The input shaft body is provided with a forward rotation brake pad, a forward rotation incomplete gear, a reverse rotation brake pad, and a reverse rotation incomplete gear. The intermediate shaft assembly includes an intermediate shaft body, a forward rotation gear, a forward rotation transmission gear, and a forward rotation plate; the intermediate shaft body is disposed within the outer frame, and the intermediate shaft body is sequentially provided with a forward rotation gear, a forward rotation transmission gear, and a forward rotation brake plate; The drive sprocket is located outside the first wall panel assembly and is connected to the destacking main shaft. The drive sprocket is connected to the transmission sprocket via a transmission chain. The transmission sprocket is connected to the intermittent forward and reverse gearbox. The destacking main shaft is equipped with a main shaft gear. A first-stage reduction gear is located on the outer periphery of the main shaft gear. A first-stage reduction gear is connected to the first-stage reduction gear via a shaft. A second-stage reduction gear is located on the outer periphery of the first-stage reduction gear. A second-stage reversing gear is located on the outer periphery of the second-stage reduction gear. The rotating vertical rod is vertically installed outside the first wall panel assembly, and an intermittent output passive bevel gear is provided on the rotating vertical shaft. An intermittent output bevel gear is provided on the outer periphery of the intermittent output passive bevel gear. An active crank is hinged to the upper end of the rotating vertical rod, and a rotating upper pull rod is hinged to the active crank. A passive crank is provided at the end of the rotating upper pull rod, and a rotating hollow shaft is provided at the lower end of the passive crank. The lower end of the rotating hollow shaft is connected to the rotating assembly. The first swing arm assembly includes a first vertical swing arm, a first horizontal swing arm, a first horizontal swing cam, and a first lower parallel link. The first vertical swing arm is disposed between the first wall panels, and the first horizontal swing arm is hinged to the first swing arm. The first horizontal swing arm is hinged to the first horizontal swing rod, and the first horizontal swing rod is hinged to the first horizontal swing link. The first horizontal swing cam is disposed below the first vertical swing arm, and the first horizontal swing link is provided with a first lower parallel link at its end. The first lower parallel link is connected to the destacking assembly.

6. A high-speed egg depalletizing and feeding machine according to claim 5, characterized in that: The destacking assembly includes an air inlet stretcher, front and rear fixing plates, and a cylinder. The air inlet stretcher is mounted on the first lower parallel connecting rod. The lower end of the air inlet stretcher is provided with the front and rear fixing plates. A cylinder is located above the front and rear fixing plates. The telescopic end of the cylinder is connected to a right fixing plate. The lower end of the right fixing plate is provided with a right clamping plate. A clamping plate opening and closing lever is hinged to the right fixing plate. The end of the clamping plate opening and closing lever is hinged to a left clamping plate. The lower end of the front and rear fixing plates is provided with multiple destacking suction nozzle assemblies. Each destacking suction nozzle assembly includes a plastic square tube. The upper end of the plastic square tube is provided with an air inlet. The lower end of the plastic square tube is provided with a plastic connector. The lower end of the plastic connector is provided with a suction nozzle.

7. A high-speed egg depalletizing and feeding machine according to claim 3, characterized in that: The loading robot assembly includes a second swing arm assembly, an adjusting parallel rod, and an end effector. The second swing arm assembly includes a second left-right swing cam, a second up-down swing arm, and a second left-right swing arm. The second left-right swing cam is disposed between the second wall panel assemblies, and the second up-down swing arm is movably connected to the second wall panel assembly. The second left-right swing arm is hinged to the second up-down swing arm, and a second left-right swing rod is hinged to the second left-right swing arm. A second left-right swing connecting rod is hinged to the second left-right swing rod, and a second parallel connecting rod is connected to the end of the second left-right swing connecting rod. The second parallel connecting rod is connected to... The device includes an adjusting parallel rod, with an end effector at its lower end. The end effector comprises a top drive sprocket, a top adjusting sprocket, an adjusting crank, a spacing adjusting rod, a hinge connecting rod, and an upper suction nozzle assembly. Both the top drive sprocket and the top adjusting sprocket are mounted on the adjusting parallel rod and are connected by a chain drive. The lower end of the top adjusting sprocket has an adjusting crank, with the spacing adjusting rod hinged to both ends. The lower end of the spacing adjusting rod is hinged to a hinge connecting rod, and the lower end of the hinge connecting rod has a feeding suction nozzle assembly. The feeding suction nozzle assembly is used to move the eggs from the egg stack to the egg conveyor line.

8. The high-speed egg depalletizing and feeding machine according to claim 1, characterized in that: The egg tray conveying assembly includes a conveying wall panel, an egg pressing tray component, a bracket, and a through-beam sensor; A conveying track is formed between multiple conveying wall panels, and a curved plate chain is provided on the conveying track. The curved plate chain is provided with plastic slots. An egg pressing tray is also provided on the conveying track. Supports are provided on both sides of the conveying track, and through-beam sensors are installed on the supports.

9. A high-speed egg depalletizing and feeding machine according to claim 1, characterized in that: The empty egg tray processing unit includes an empty tray rejection component and a tray stacking component; The empty tray rejection assembly includes a frame; the frame has at least two openings, and a valve cylinder is also provided inside the frame. The telescopic end of the valve cylinder is hinged to a connecting crank, and a movable door is provided on the connecting crank. The movable door is located at the opening. A container for residual egg trays is provided at the end of the frame. A rejection mechanism is also provided inside the frame, which includes a rejection frame plate, a rejection motor, a rejection sprocket, a rejection main shaft, a straight brush, and a rejection chain. The rejection frame plate is installed inside the frame, and the rejection motor is installed on the outer periphery of the rejection frame plate. The output end of the rejection frame plate is connected to the rejection sprocket through the rejection main shaft. A rejection chain is provided between multiple rejection sprockets, and a straight brush is provided on the rejection main shaft. The stacking assembly includes a base plate, guide plates, a stacking cylinder, and a non-powered conveyor line; the base plate is located at the lower end of the frame, and the base plate is provided with multiple guide plates that cooperate with the opening; the stacking cylinder is installed on the base plate and is used to push the egg stack located in the guide plates; the base plate is also provided with a non-powered conveyor line.

10. An operating method for a high-speed egg depalletizing and feeding machine, applicable to the high-speed egg depalletizing and feeding machine as described in any one of claims 1-9, characterized in that: S1. The egg stack to be processed is sent into the equipment through the egg stack conveying and positioning push unit; S2. The egg stack is received by the egg stack lifting, rotating and destacking assembly, and is lifted layer by layer, rotated 90° between adjacent layers, and then the top single-layer egg tray is disassembled and separated one by one. S3. Transfer the disassembled single-layer egg tray to the egg tray conveyor assembly; S4. The egg tray conveying assembly conveys the egg tray containing eggs to the working station of the feeding robot assembly, where the feeding robot assembly picks up the eggs from the egg tray and accurately places them onto the egg conveying line. S5. After the eggs are collected, the empty egg trays are conveyed to the next stage by the egg tray conveyor assembly, and the presence of any egg residue in the empty trays is detected simultaneously. Based on the detection results, the empty trays are then sorted out. S6. For qualified empty trays with no residue, the empty tray rejection component pushes them into the stacking tray component for stacking and then pushes them out; for egg trays with egg residue detected, they are introduced into a special residual egg tray container for recycling.

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