Multi-species egg tart and egg tart crust automatic tray loading and processing equipment

Abstract

The application discloses a kind of multi-class egg tart and egg tart crust automatic equipment of packing and material, belong to the technical field of automatic packaging equipment, including baking tray positioning conveying line, blister tray and product conveying line and robot sorting component.Baking tray positioning conveying line is equipped with baking tray jacking positioning component, for jacking baking tray to first operation height and positioning, when jacking, below passage is unobstructed.Blister tray and product conveying line are equipped with blister tray jacking positioning component, for jacking blister tray to second operation height and positioning, when jacking, below passage is unobstructed.Robot sorting component includes vision component and robot grabbing component;The camera of vision component moves horizontally to collect the image of product in baking tray to guide robot grabbing component to grab product, and robot grabbing component places product on blister tray or directly on product conveyor.This application realizes three-dimensional parallel operation of upper layer tray loading and lower layer conveying, compatible tray loading and independent packaging two modes, improves space utilization and production efficiency.

Description

Technical Field

[0001] This invention belongs to the field of automated packaging equipment technology, specifically relating to an automatic palletizing and sorting equipment for multiple types of egg tarts and egg tart crusts. Background Technology

[0002] As consumers' demands for the quality and diversity of baked goods continue to rise, egg tarts have gradually evolved to come in various sizes, flavors, and fillings. To meet the tastes and eating habits of different groups, different ingredients are added or the fat ratio is adjusted during the production of egg tart crusts, resulting in differences in their physical properties such as color, hardness, and weight. Furthermore, depending on sales requirements, some egg tarts or egg tart crusts need to be packed into blister packs and then packaged in a packaging machine; others need to be individually packaged and finally placed in a refrigerated environment for sale.

[0003] Currently, the aforementioned packaging process mainly relies on manual operation: egg tarts are placed into plastic trays of corresponding sizes according to their dimensions, and then packaged by a packaging machine; or individual egg tarts are placed at certain intervals on a conveyor line for individual packaging. The entire process involves a large amount of manual handling, frequent switching of packaging materials and equipment, and repeated plugging and unplugging of power, resulting in low efficiency and safety hazards. Different fillings cause weight differences between egg tarts and between the fillings and the crusts, and the egg tart crusts themselves are brittle and fragile. Coupled with the wide variety of products and frequent changes, manual sorting can easily damage products due to improper gripping force, leading to high production costs, low efficiency, and difficulty in guaranteeing a high yield rate.

[0004] In the prior art, there are already automated devices that use vision combined with robotic arms to achieve material gripping and conveying. For example, CN204037978U discloses an automatic packaging gripping and conveying device, which identifies the position of the packaging on the conveyor belt through an image sensor, and the controller drives a robotic arm with suction cups to complete the gripping and transfer, which can realize the automated transfer of packaging and improve the conveying efficiency to a certain extent. However, the existing devices mentioned above still have significant shortcomings when applied to egg tart and egg tart crust tray handling scenarios: 1. They are only suitable for single-layer planar conveying and gripping, and cannot adapt to multi-level three-dimensional operation requirements, resulting in low space utilization and production efficiency; 2. Conventional suction cups or grippers are only suitable for simple gripping and transfer of conventional packaging materials, and cannot adapt to the characteristics of egg tart crusts being brittle and fragile with large differences in physical properties, easily causing product damage during the gripping process; 3. They cannot adapt to the production needs of multiple categories, specifications, and packaging forms, and cannot meet the diverse scenarios of switching between whole box packaging and single packaging; 4. They cannot achieve integrated operation of automatic material handling, automatic traying, and automatic matching of packaging specifications for multiple product categories, making it difficult to solve the technical bottlenecks of low production efficiency, high labor costs, and high product loss. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an automatic traying and material handling equipment for multiple types of egg tarts and egg tart crusts. It aims to achieve a two-layer, three-dimensional layout, fully utilizing vertical space to form a parallel working mode of "upper-layer operation and lower-layer conveying." Simultaneously, it is compatible with both tray packaging and individual packaging operations. Through mobile vision guidance and positioning design, it meets the automated production needs of multiple product categories, improving production efficiency and finished product qualification rate.

[0006] To solve the above-mentioned technical problems, the present invention provides an automatic tray-loading and sorting equipment for multiple types of egg tarts and egg tart crusts. The equipment is characterized by comprising a baking tray positioning and conveying line, including a baking tray conveyor and a baking tray lifting and positioning assembly. At least two sets of the baking tray lifting and positioning assembly are arranged along the conveying direction of the baking tray conveyor. The baking tray lifting and positioning assembly is used to lift the baking trays on the baking tray conveyor to a first working height and perform horizontal positioning, and in the lifted state, the conveying channel of the baking tray conveyor below the baking tray remains unobstructed. The equipment also includes a blister tray and product conveying line, including a product conveyor and a blister tray lifting and positioning assembly. At least two sets of the blister tray lifting and positioning assembly are arranged along the conveying direction of the product conveyor. The blister tray lifting and positioning assembly is used to lift the blister trays on the product conveyor to a second working height and perform horizontal positioning, and in the lifted state, the product conveyor... The conveyor channel located below the blister tray is kept unobstructed; a robot sorting assembly, comprising at least two sets, each set corresponding to a set of the baking tray lifting and positioning assembly; the robot sorting assembly includes a sorting frame and a robot gripping assembly and a vision assembly mounted on the sorting frame; the vision assembly includes a camera and a translation module, the translation module being used to drive the camera to move horizontally so that the camera can capture images of the products in the baking tray; the camera is communicatively connected to the robot gripping assembly, and the product position information captured by the camera is used to guide the robot gripping assembly to grip the product at the corresponding position; the robot gripping assembly is used to grip the product from the baking tray at the first working height and place the product in the blister tray at the second working height or directly on the product conveyor.

[0007] By employing the above-described technical solution, the technical solution provided by the present invention has at least the following advantages: 1. Achieving a dual-layer, three-dimensional layout significantly improves space utilization and production efficiency: The baking tray lifting and positioning component and the blister tray lifting and positioning component of this invention lift the baking tray and the blister tray to the first and second working heights, respectively, while maintaining unobstructed conveying channels below their respective conveyors in the lifted state, forming a three-dimensional layered structure of "upper-layer operation, lower-layer conveying". Simultaneously, at least two sets of the baking tray lifting and positioning components and the blister tray lifting and positioning components are respectively arranged along the conveying direction, enabling sequential lifting and positioning of the baking tray and the blister tray. Combined with the robot gripping component, continuous assembly line operation is achieved. Compared to existing single-layer planar conveying and gripping equipment, this invention fully utilizes the vertical space, significantly reduces the equipment's footprint, significantly increases the equipment's output per unit time, and solves the technical problem that existing equipment cannot adapt to multi-level, three-dimensional operations.

[0008] 2. Compatible with multiple packaging formats, achieving integrated tray packaging and individual packaging: The robotic gripping component of this invention can place products in blister trays at the second working height (tray packaging mode) or directly onto the product conveyor (individual packaging mode). One set of equipment can meet both whole-box packaging and individual packaging production needs. There is no need to change equipment; the two operating modes can be switched simply by switching modes, which greatly reduces equipment investment and improves production flexibility.

[0009] 3. Employing multi-position moving vision guidance to adapt to the positional differences of various product categories: Addressing the issue of different colors due to material variations in egg tarts and tart crusts, and the large size of the baking pan, resulting in poor edge imaging when using a fixed camera, the vision component of this invention drives the camera to move horizontally via a translation module. This allows for the acquisition of images of the products within the baking pan from multiple positions, ensuring clear imaging of products in all areas of the baking pan. This effectively solves the visual recognition challenges of large-sized baking pans and multi-colored products, guaranteeing the accuracy and reliability of the robot's grasping capabilities.

[0010] In a preferred embodiment of the present invention, the baking pan lifting and positioning assembly includes a baking pan blocking cylinder, a baking pan blocking component, a pair of baking pan opening and closing cylinders, a pair of baking pan lifting cylinders, and a pair of baking pan support plates. The baking pan blocking cylinder is mounted on the baking pan conveyor, and the baking pan blocking component is connected to the output end of the baking pan blocking cylinder. The baking pan blocking cylinder drives the baking pan blocking component to extend and block the baking pan, thereby achieving front-to-back positioning of the baking pan. The pair of baking pan support plates are located on both sides of the baking pan conveyor, and each baking pan support plate has a horizontal portion and a vertical portion. The baking pan support plates are water-resistant. The flat section is used to support the conveyed baking tray; the pair of baking tray opening and closing cylinders are respectively arranged on both sides of the baking tray conveyor, and the output end of each baking tray opening and closing cylinder is connected to a baking tray lifting cylinder; the output end of each baking tray lifting cylinder is connected to a baking tray support plate; the baking tray opening and closing cylinder is used to drive the baking tray lifting cylinder and the baking tray support plate to move left and right as a whole, so that the vertical part of the baking tray support plate clamps the baking tray from both sides, realizing the left and right positioning of the baking tray; the baking tray lifting cylinder is used to drive the baking tray support plate and the baking tray to rise together after the baking tray is clamped and positioned. The first working height; the blister tray lifting and positioning assembly includes a blister tray blocking cylinder, a blister tray blocking component, a pair of blister tray lifting cylinders, a pair of blister tray support plates, a pair of diagonally arranged blister tray positioning cylinders, and a blister tray positioning component; the blister tray blocking cylinder is mounted on the product conveyor, and the blister tray blocking component is connected to the output end of the blister tray blocking cylinder. The blister tray blocking cylinder is used to drive the blister tray blocking component to extend and block the blister tray; the pair of blister tray lifting cylinders are respectively mounted on both sides of the product conveyor, and the output of each blister tray lifting cylinder... The blister tray is connected to a support plate at one end; the blister tray lifting cylinder is used to drive the support plate and the blister tray to rise together to the second working height after the blister tray blocking member blocks the blister tray; the blister tray positioning cylinder is set on the product conveyor, and the output end of each blister tray positioning cylinder is connected to a blister tray positioning member, and the front end of the blister tray positioning member is provided with two vertically arranged positioning rods; the blister tray positioning cylinder is used to drive the blister tray positioning member to move, so that the positioning rods contact the two sides of the corner of the blister tray, thereby achieving horizontal positioning of the blister tray. Based on the different positioning accuracy requirements of the baking tray side and the blister tray side, this invention adopts differentiated positioning methods: On the baking tray side, the vertical part of the baking tray support plate is driven by the baking tray blocking component and a pair of baking tray opening and closing cylinders to clamp the baking tray from both sides, achieving coarse positioning. With visual guidance for grasping, excessively high positioning accuracy is not required; On the blister tray side, a pair of diagonally arranged blister tray positioning cylinders drive the blister tray positioning component, so that the two vertically arranged positioning rods at the front end of the blister tray positioning component contact the two sides of the corner of the blister tray, achieving high-precision positioning and ensuring that the product accurately falls into the cavity of the blister tray.This differentiated design ensures the accuracy of the blister tray placement while avoiding unnecessary structural complexity on the baking tray side, achieving an optimal balance between efficiency, accuracy, and cost.

[0011] In a preferred embodiment of the present invention, the baking tray positioning conveyor line further includes at least one baking tray buffer component, which is disposed on the baking tray positioning conveyor line and sequentially arranged with the baking tray lifting and positioning component along the conveying direction of the baking tray conveyor; the baking tray buffer component is used to lift the baking tray to the buffer height, and in the lifted state, the conveying channel of the baking tray conveyor located below the baking tray remains unobstructed; the blister tray and product conveyor line further includes at least one blister tray buffer component, which is disposed on the blister tray and product conveyor line and sequentially arranged with the blister tray lifting and positioning component along the conveying direction of the product conveyor; the blister tray buffer component is used to lift the blister tray to the buffer height, and in the lifted state, the conveying channel of the product conveyor located below the blister tray remains unobstructed. This invention, by setting up a baking tray buffer component and a blister tray buffer component, can lift and buffer subsequent incoming materials during the operation of the lifting and positioning component, thus avoiding blockage of the conveyor line; at the same time, the lower conveying channel remains unobstructed during the lifting state, without affecting the passage of other materials, realizing the parallel operation of buffering and conveying, and improving the production cycle and operational stability of the equipment.

[0012] In a preferred embodiment of the present invention, the baking tray lifting and positioning assembly is divided into multiple baking tray operating units. Each baking tray operating unit includes two sets of baking tray lifting and positioning assemblies arranged sequentially along the conveying direction, and a baking tray buffer assembly disposed between the two sets of baking tray lifting and positioning assemblies. The blister tray lifting and positioning assembly is divided into multiple blister tray operating units. Each blister tray operating unit includes four consecutive sets of blister tray lifting and positioning assemblies arranged sequentially along the conveying direction, and each blister tray operating unit has a blister tray buffer assembly on the material receiving side.

[0013] In a preferred embodiment of the present invention, the baking tray buffer assembly includes a baking tray buffer blocking cylinder, a baking tray buffer blocking component, a pair of baking tray buffer lifting cylinders, and a pair of baking tray buffer support plates. The baking tray buffer blocking cylinder is mounted on the baking tray conveyor, and the baking tray buffer blocking component is connected to the output end of the baking tray buffer blocking cylinder. The baking tray buffer blocking cylinder drives the baking tray buffer blocking component to extend and block the baking tray. The pair of baking tray buffer lifting cylinders are respectively mounted on both sides of the baking tray conveyor, and the output end of each baking tray buffer lifting cylinder is connected to one of the baking tray buffer support plates. The baking tray buffer lifting cylinder drives the baking tray buffer support plate and the baking tray to rise together to the buffer height after the baking tray is blocked, and in the lifted state, the conveying channel of the baking tray conveyor located below the baking tray remains unobstructed. The blister pack buffer assembly includes a blister pack buffer blocking cylinder, a blister pack buffer blocking component, a pair of blister pack buffer lifting cylinders, and a pair of blister pack buffer support plates. The blister pack buffer blocking cylinder is mounted on the product conveyor, and the blister pack buffer blocking component is connected to the output end of the blister pack buffer blocking cylinder. The blister pack buffer blocking cylinder is used to drive the blister pack buffer blocking component to extend and block the blister pack. The pair of blister pack buffer lifting cylinders are respectively mounted on both sides of the product conveyor, and the output end of each blister pack buffer lifting cylinder is connected to one of the blister pack buffer support plates. The blister pack buffer lifting cylinder is used to drive the blister pack buffer support plate and the blister pack together to the buffer height after the blister pack is blocked, and in the lifted state, the conveying channel of the product conveyor located below the blister pack remains unobstructed.

[0014] In a preferred embodiment of the present invention, the robot gripping assembly includes a robot and a quick-change gripper; the quick-change gripper includes a quick-change mechanism T, a quick-change mechanism R, a connecting plate, a pneumatic gripper, and multiple gripping segments; the quick-change mechanism T is connected to the end effector of the robot; both the quick-change mechanism R and the pneumatic gripper are mounted on the connecting plate; the quick-change mechanism T and the quick-change mechanism R can be locked or unlocked by pneumatic drive; the multiple gripping segments are mounted on the output end of the pneumatic gripper, and the multiple gripping segments are circumferentially distributed around a central axis; the robot sorting assembly also includes a quick-change gripper placement group. The quick-change gripper placement assembly is mounted on the sorting frame and includes a mounting base, an adjusting plate, a leveling component, a positioning flange, and a sensing component. The mounting base is fixedly connected to the sorting frame, and the adjusting plate is mounted on the mounting base via the leveling component. The positioning flange is mounted on the adjusting plate. A positioning pin is provided on the connecting plate, which cooperates with the positioning flange to achieve precise positioning of the quick-change gripper on the adjusting plate. The sensing component is mounted on the adjusting plate to detect whether the quick-change gripper is accurately placed on or removed from the adjusting plate. This invention uses multiple circumferentially distributed grippers of the quick-change gripper to hold products from the side, and with the help of air pressure regulation to control the gripping force, it achieves non-destructive gripping of crisp and fragile products such as egg tarts and egg tart crusts. It can also adapt to multiple product categories by changing the grippers. Through the pneumatically driven quick-change mechanism and the quick-change gripper placement assembly, automatic replacement and precise positioning of the gripper are achieved, significantly shortening product changeover time and improving the equipment's multi-variety adaptability and automation level.

[0015] In a preferred embodiment of the invention, a high-speed tray unpacking machine is further included. This high-speed tray unpacking machine is connected to the incoming end of the blister pack and product conveyor line, and is used to separate stacked blister packs one by one and place them onto the product conveyor. The high-speed tray unpacking machine includes a tray unpacking frame, an adjustment assembly, and four tray unpacking components. Each tray unpacking component includes a tray unpacking bracket, a tray unpacking drive mechanism, an inlet pressure plate, and a cam with a spiral groove mounted on the tray unpacking bracket. The inlet pressure plate is fixed to the upper end of the cam with an adjustable circumferential angle. The inlet pressure plate has an opening, with a horizontal support portion formed on one side of the opening and a downward pressing portion higher than the horizontal support portion on the other side. The height difference between the downward pressing portion and the horizontal support portion is not greater than the gap between the stacked blister packs. The tray unpacking drive mechanism is connected to the cam drive mechanism to drive the cam to rotate synchronously with the inlet pressure plate. The four tray unpacking components are mounted on the tray unpacking frame via the adjustment assembly and are arranged in a rectangular shape along the horizontal direction. The adjustment assembly can move the tray unpacking components to adjust the spacing between each tray unpacking component. The disassembly assembly of this invention adopts a continuous rotary disassembly structure, which has high disassembly efficiency and can meet the supply needs of empty blister trays for high-speed continuous production. With four rectangularly distributed adjustable disassembly assemblies and an adjustable-angle inlet pressure plate, it can flexibly adapt to blister trays of different sizes and degrees of deformation, ensuring stable and reliable disassembly. The inlet pressure plate and cam adopt a detachable and modular design, and the vulnerable parts can be replaced individually, resulting in low maintenance costs.

[0016] In a preferred embodiment of the present invention, the disassembly assembly further includes a flange seat, and the inlet pressure plate has an elongated mounting hole extending circumferentially. The inlet pressure plate is locked and fixed to the flange seat and the cam by fasteners passing through the elongated mounting hole. Through this arrangement, the inlet pressure plate can be finely adjusted circumferentially relative to the cam, compensating for positional and angular deviations that occur during the assembly of the four disassembly assemblies. This allows each inlet pressure plate to adapt to the actual placement angle and shape of the stacked blister trays, ensuring that each inlet pressure plate acts synchronously on the blister tray, thereby improving the consistency and stability of disassembly.

[0017] In a preferred embodiment of the present invention, the blister tray and product conveyor line further include an entrance error-proof detection component. This component is located at the receiving end of the product conveyor and includes a camera and a camera bracket. The camera bracket is mounted on the product conveyor, and the camera is mounted on the camera bracket for capturing images of the blister tray. This invention provides an entrance error-proof detection component at the receiving end of the blister tray and product conveyor line. By capturing images of the blister tray with a camera and coordinating with the control system to determine whether its specifications match the product to be packaged, it effectively avoids the problem of mismatch between the blister tray and the product caused by manual loading errors. This eliminates product damage and equipment failure at the source, improving the reliability of the production line and the finished product qualification rate.

[0018] In a preferred embodiment of the present invention, the blister tray and product conveyor line further include a transition conveyor, a defective product visual inspection component, and a defective product rejection component; the transition conveyor is located at the outlet of the product conveyor and is used to receive and convey the blister trays from the product conveyor; the defective product visual inspection component and the defective product rejection component are sequentially installed on the transition conveyor along the conveying direction; the defective product visual inspection component includes an inspection bracket, an inspection camera, an inspection blocking cylinder, and an inspection blocking element; the inspection bracket is installed on the transition conveyor, and the inspection camera is installed on the inspection bracket for collecting blister tray images. The image shows the product inside the plastic tray; the detection blocking cylinder is mounted on the detection bracket and is used to drive the detection blocking component to block the blister tray when the detection camera acquires the image; the defective product rejection assembly includes a rejection bracket, a rejection drive cylinder, a turntable, a rejection blocking cylinder, and a rejection blocking component; the rejection bracket is mounted on the transition conveyor, the rejection blocking cylinder is mounted on the rejection bracket and is used to drive the rejection blocking component to block the blister tray; the rejection drive cylinder is mounted on the rejection bracket and is used to drive the turntable to move, removing the blister tray blocked by the rejection blocking component from the transition conveyor. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an automatic traying and sorting equipment for multi-variety egg tarts and egg tart crusts according to an embodiment of the present invention.

[0020] Figure 2 This is a perspective view of the baking pan operation unit according to an embodiment of the present invention.

[0021] Figure 3 This is a top view of the baking pan operation unit according to an embodiment of the present invention.

[0022] Figure 4 This is a side view of the baking pan lifting and positioning assembly according to an embodiment of the present invention.

[0023] Figure 5 This is a perspective view of the baking pan positioning and lifting assembly (excluding the baking pan blocking component) according to an embodiment of the present invention.

[0024] Figure 6 This is a perspective view of the baking pan buffer component (excluding the baking pan buffer blocking component) according to an embodiment of the present invention.

[0025] Figure 7 This is a front view of the blister pack and product conveyor line according to an embodiment of the present invention.

[0026] Figure 8 This is a top view of the blister pack and product conveying line according to an embodiment of the present invention.

[0027] Figure 9This is a perspective view of the blister tray lifting and positioning assembly according to an embodiment of the present invention.

[0028] Figure 10 This is a perspective view of the positioning cylinder for the blister pack according to an embodiment of the present invention.

[0029] Figure 11 This is a perspective view of the blister pack buffer assembly according to an embodiment of the present invention.

[0030] Figure 12 This is a perspective view of the entrance error-proof detection component according to an embodiment of the present invention.

[0031] Figure 13 This is a perspective view of a robot sorting unit according to an embodiment of the present invention.

[0032] Figure 14 This is a perspective view of the robot grasping component according to an embodiment of the present invention.

[0033] Figure 15 This is a perspective view of the quick-change gripper according to an embodiment of the present invention.

[0034] Figure 16 This is a perspective view of the quick-change gripper placement assembly according to an embodiment of the present invention.

[0035] Figure 17 This is a top view of the quick-change gripper placement assembly according to an embodiment of the present invention.

[0036] Figure 18 For along Figure 17 Sectional view along the AA direction.

[0037] Figure 19 This is a perspective view of the visual component according to an embodiment of the present invention.

[0038] Figure 20 This is a perspective view of a high-speed disc removal machine according to an embodiment of the present invention.

[0039] Figure 21 This is a perspective view of the disassembly assembly according to an embodiment of the present invention.

[0040] Figure 22 This is a perspective view of the inlet tablet of an embodiment of the present invention.

[0041] Figure 23 This is a perspective view of the visual inspection component and the rejection component for defective products according to an embodiment of the present invention.

[0042] In the diagram, 1. Baking tray positioning and conveyor line; 1.1 Baking tray conveyor; 1.2 Baking tray lifting and positioning assembly; 1.2.1 Baking tray blocking cylinder; 1.2.2 Baking tray blocking component; 1.2.3 Baking tray opening and closing cylinder; 1.2.4 Baking tray lifting cylinder; 1.2.5 Baking tray support plate; 1.2.5.1 Horizontal section; 1.2.5.2 Vertical section; 1.3 Baking tray buffer assembly; 1.3.1 Baking tray buffer blocking cylinder; 1.3.2 Baking tray buffer blocking component; 1.3.3 Baking tray buffer lifting cylinder; 1.3.4 Baking tray buffer support plate; 1.4 Light source assembly; 1.4.1 Light source bracket; 1.4.2 Strip light source; 2. Blister tray and product conveyor line; 2.1 Product conveyor; 2.2 Blister tray... Plastic tray lifting and positioning assembly, 2.2.1, blister tray blocking cylinder, 2.2.2, blister tray blocking component, 2.2.3, blister tray lifting cylinder, 2.2.4, blister tray support plate, 2.2.5, blister tray positioning cylinder, 2.2.6, blister tray positioning component, 2.2.6.1, positioning rod, 2.2.7, detection photoelectric, 2.3, blister tray buffer assembly, 2.3.1, blister tray buffer blocking cylinder, 2.3.2, blister tray buffer blocking component, 2.3.3, blister tray buffer lifting cylinder, 2.3.4, blister tray buffer support plate, 2.4, entrance foolproof detection assembly, 2.4.1, camera bracket, 2.4.2, camera, 2.4.3, ring light source, 2.5, transition conveyor, 2.5.1, entrance detection... 2.5.2 Optical optics for export inspection; 2.6 Visual inspection components for non-conforming products; 2.6.1 Inspection bracket; 2.6.2 Inspection camera; 2.6.3 Light source; 2.6.4 Inspection blocking component; 2.6.5 Inspection blocking cylinder; 2.7 Non-conforming product rejection components; 2.7.1 Rejection bracket; 2.7.2 Rejection drive cylinder; 2.7.3 Toggle plate; 2.7.4 Rejection blocking component; 2.7.5 Non-conforming blister tray parking position; 2.7.6 Rejection blocking cylinder; 3. Robot sorting components; 3.1 Sorting frame; 3.2 Robot gripping components; 3.2.1 Robot; 3.2.2 Quick-change gripper; 3.2.2.1 Quick-change mechanism T; 3.2.2.2 Quick-change gripper... 3.2.2.3, Connecting plate; 3.2.2.3.1, Positioning pin; 3.2.2.4, Pneumatic gripper; 3.2.2.5, Gripping flap; 3.3, Vision component; 3.3.1, Camera; 3.3.2, Translation module; 3.4, Quick-change gripper placement component; 3.4.1, Mounting base; 3.4.2, Adjusting plate; 3.4.3, Leveling component; 3.4.4, Positioning flange; 3.4.5, Sensing component; 4, High-speed tray removal machine; 4.1, Tray removal machine frame; 4.2, Adjustment component; 4.2.1, Up and down adjusting slide; 4.2.2, Adjusting mounting bracket; 4.2.3, Adjusting support bracket; 4.2.4, Left and right adjusting slide; 4.2.5, Front and rear adjusting slide; 4.3, Tray removal component; 4.3.1 Disassembly tray support; 4.3.2 Disassembly tray drive mechanism; 4.3.3 Inlet pressure plate; 4.3.3.1 Opening; 4.3.3.2 Horizontal support; 4.3.3.3 Lowering part; 4.3.3.4 Long strip mounting hole; 4.3.4 Cam; 4.3.5 Flange seat; 4.3.6 Detection component; 4.3.7 Blister tray limiting component; 4.4 Blister tray conveyor; 5. Baking tray transition conveyor; 6. Baking tray; 7. Blister tray. Detailed Implementation

[0043] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0044] In this embodiment, front-back, left-right, and up-down refer to relative positional relationships, rather than absolute orientations. The front-back direction is defined as the material conveying direction; the left-right direction is defined as the direction perpendicular to the front-back direction on a horizontal plane; and the up-down direction is defined as the vertical direction.

[0045] This embodiment provides an automatic tray-loading and sorting device for multiple types of egg tarts and egg tart crusts, with the overall layout as follows: Figure 1 As shown, the system includes a baking tray positioning conveyor line 1, a blister tray and product conveyor line 2, a robot sorting component 3, and a high-speed tray unpacking machine 4. The baking tray positioning conveyor line 1 transports baking trays 6 carrying egg tarts or egg tart shells. The blister tray and product conveyor line 2 transports blister trays 7 (in tray packaging mode) or directly transports products (individual packaging mode). The baking tray positioning conveyor line 1 and the blister tray and product conveyor line 2 are arranged side-by-side and use opposing conveying methods to reduce the overall footprint of the equipment and facilitate robot cross-line operations. The high-speed tray unpacking machine 4 is connected to the receiving end of the blister tray and product conveyor line 2. In tray packaging mode, the high-speed tray unpacking machine 4 is used to separate the stacked blister trays 7 one by one and transport them to the blister tray and product conveyor line 2. The robot sorting component 3 is positioned above the baking tray positioning conveyor line 1 and the blister tray and product conveyor line 2. It is used to pick up products from the baking tray 6 on the baking tray positioning conveyor line 1 and place the products in the blister tray 7 on the blister tray and product conveyor line 2 or place them directly on the blister tray and product conveyor line 2.

[0046] The feeding end of the baking tray positioning conveyor line 1 is connected to the baking tray transition conveyor 5, which in turn connects to the front-end baking tray feeding equipment. After the egg tarts or egg tart crusts are placed into the baking trays 6, they are conveyed to the baking tray positioning conveyor line 1 via the baking tray transition conveyor 5.

[0047] This embodiment achieves a two-layer, three-dimensional layout through the aforementioned overall arrangement: the baking tray lifting and positioning component 1.2 and the blister tray lifting and positioning component 2.2 respectively lift the baking tray 6 and the blister tray 7 to the first and second working heights, while maintaining unobstructed conveying channels below their respective conveyors in the lifting state, forming a three-dimensional layered structure of "upper-layer operation, lower-layer conveying". Simultaneously, multiple lifting and positioning components are sequentially arranged along the conveying direction, working in conjunction with the robot gripping component 3.2 to achieve continuous assembly line operation. Compared to existing single-layer planar conveying and gripping equipment, this embodiment fully utilizes vertical space, significantly reducing the equipment's footprint and significantly increasing output per unit time. Furthermore, the robot gripping component 3.2 can place products in the blister tray 7 (tray packaging mode) or directly place products on the product conveyor 2.1 (individual packaging mode). One set of equipment can meet both whole-box packaging and single-packaging production needs without requiring equipment replacement; a simple mode switch is all that's needed to switch between the two operating modes, significantly reducing equipment investment and improving production flexibility.

[0048] II. Baking Pan Positioning Conveyor Line like Figure 2 As shown, the baking tray positioning and conveying line 1 includes a baking tray conveyor 1.1, a baking tray lifting and positioning assembly 1.2, and a baking tray buffer assembly 1.3. In this embodiment, the baking tray conveyor 1.1 adopts a double-row synchronous belt conveyor line.

[0049] Six sets of baking pan lifting and positioning components 1.2 are arranged along the conveying direction of the baking pan conveyor 1.1, and the six sets of baking pan lifting and positioning components 1.2 are divided into three baking pan operation units. Figure 2 and Figure 3 The structure of the baking pan operation unit is shown. Each baking pan operation unit includes two sets of baking pan lifting and positioning components 1.2 arranged sequentially along the conveying direction, and a baking pan buffer component 1.3 disposed between the two sets of baking pan lifting and positioning components 1.2.

[0050] The baking tray lifting and positioning assembly 1.2 is used to lift the baking tray 6 on the baking tray conveyor 1.1 to the first working height (i.e., from the...). Figure 4 From position B to position A in the diagram, horizontal positioning is performed, and the conveying channel of the baking tray conveyor 1.1 located below the baking tray remains unobstructed while in the lifting state. Specifically, as shown... Figure 3 and Figure 5 As shown, the baking tray lifting and positioning assembly 1.2 includes a baking tray blocking cylinder 1.2.1, a baking tray blocking component 1.2.2, a pair of baking tray opening and closing cylinders 1.2.3, a pair of baking tray lifting cylinders 1.2.4, and a pair of baking tray support plates 1.2.5.

[0051] A baking tray blocking cylinder 1.2.1 is installed on the baking tray conveyor 1.1, and a baking tray blocking component 1.2.2 is connected to the output end of the baking tray blocking cylinder 1.2.1. When the baking tray 6 reaches the predetermined position along the conveying direction, the baking tray blocking cylinder 1.2.1 drives the baking tray blocking component 1.2.2 to extend, blocking the baking tray 6 from continuing to move forward, thus achieving the front-back positioning of the baking tray 6.

[0052] A pair of baking tray support plates 1.2.5 are disposed on both sides of the baking tray conveyor 1.1. Each baking tray support plate 1.2.5 has a horizontal part 1.2.5.1 and a vertical part 1.2.5.2. The horizontal part 1.2.5.1 of the baking tray support plate 1.2.5 is used to support the conveyed baking tray 6.

[0053] A pair of baking tray opening and closing cylinders 1, 2, and 3 are respectively installed on both sides of the baking tray conveyor 1.1. The output end of each baking tray opening and closing cylinder 1, 2, and 3 is connected to a baking tray lifting cylinder 1, 2, and 4. The output end of each baking tray lifting cylinder 1, 2, and 4 is connected to a baking tray support plate 1, 2, and 5. The baking tray opening and closing cylinders 1, 2, and 3 are used to drive the baking tray lifting cylinders 1, 2, and 4 and the baking tray support plate 1, 2, and 5 to move left and right as a whole, so that the vertical parts 1, 2, 5, and 2 of the baking tray support plates 1, 2, and 5 on both sides clamp the baking tray 6 from both sides, thereby achieving the left and right positioning of the baking tray 6.

[0054] After the baking tray 6 is positioned front-to-back and left-to-right, the baking tray lifting cylinder 1.2.4 is activated, driving the baking tray support plate 1.2.5 to lift the baking tray 6 to the first working height.

[0055] A light source assembly 1.4 is installed on the baking tray conveyor 1.1, and each light source assembly 1.4 corresponds to a baking tray lifting and positioning assembly 1.2. The light source assembly 1.4 includes a light source bracket 1.4.1 and a strip light source 1.4.2. The light source bracket 1.4.1 is installed on the baking tray conveyor 1.1, and the strip light source 1.4.2 is installed on the light source bracket 1.4.1 and surrounds the front, rear and right sides of the baking tray lifting and positioning assembly 1.2.

[0056] The baking tray buffer assembly 1.3 is installed on the baking tray positioning conveyor line 1, and is sequentially arranged with the baking tray lifting and positioning assembly 1.2 along the conveying direction of the baking tray conveyor 1.1. The baking tray buffer assembly 1.3 is used to lift subsequently arriving baking trays 6 to the buffer height, preventing interference with the baking tray 6 currently in operation; simultaneously, in the lifted state, the conveying channel of the baking tray conveyor 1.1 located below the baking tray remains unobstructed, allowing other baking trays to pass. Figure 3 and Figure 6As shown, the baking tray buffer assembly 1.3 includes a baking tray buffer blocking cylinder 1.3.1, a baking tray buffer blocking component 1.3.2, a pair of baking tray buffer lifting cylinders 1.3.3, and a pair of baking tray buffer support plates 1.3.4. Its working principle is similar to that of the baking tray lifting and positioning assembly 1.2, but it omits the baking tray opening and closing cylinder 1.2.3, and only realizes the blocking and lifting buffer functions.

[0057] In this embodiment, by setting up the baking tray buffer component 1.3, subsequent incoming materials can be lifted and buffered when the baking tray lifting and positioning component 1.2 is in operation, thus avoiding blockage of the conveyor line. At the same time, the lower conveying channel remains unobstructed in the lifting state, without affecting the passage of other materials. This realizes the parallel operation of buffering and conveying, improving the production cycle and operational stability of the equipment.

[0058] III. Blister trays and product conveyor lines like Figure 7 and Figure 8 As shown, the blister tray and product conveyor line 2 includes a product conveyor 2.1, a blister tray lifting and positioning assembly 2.2, a blister tray buffer assembly 2.3, an entrance error-proof detection assembly 2.4, a transition conveyor 2.5, a non-conforming product visual inspection assembly 2.6, and a non-conforming product rejection assembly 2.7.

[0059] (a) Blister tray lifting and positioning assembly like Figure 7 and Figure 8 As shown, twelve sets of blister tray lifting and positioning components 2.2 are arranged along the conveying direction of the product conveyor 2.1. The twelve sets of blister tray lifting and positioning components 2.2 are divided into three blister tray working units. Each blister tray working unit includes four consecutive sets of blister tray lifting and positioning components 2.2 arranged sequentially along the conveying direction, and each blister tray working unit has a blister tray buffer component 2.3 on the material receiving side.

[0060] The blister tray lifting and positioning assembly 2.2 is used to lift the blister tray 7 on the product conveyor 2.1 to the second working height (i.e., from the...). Figure 7 Positions D to C in the image are positioned horizontally, and the conveyor channel of product conveyor 2.1 located below the blister pack remains unobstructed during the lifting state. Specifically, Figure 9 Two sets of blister tray lifting and positioning components 2.2 are shown. These two sets of blister tray lifting and positioning components 2.2 correspond to a baking tray lifting and positioning component 1.2 and a robot sorting component 3. That is, each robot gripping component 3.2 can place products into the blister trays 7 of the two sets of blister tray lifting and positioning components 2.2.

[0061] like Figure 9As shown, the blister tray lifting and positioning assembly 2.2 includes a blister tray blocking cylinder 2.2.1, a blister tray blocking component 2.2.2, a pair of blister tray lifting cylinders 2.2.3, a pair of blister tray support plates 2.2.4, a pair of blister tray positioning cylinders 2.2.5 arranged diagonally, a blister tray positioning component 2.2.6, and a detection photoelectric sensor 2.2.7.

[0062] A blister pack blocking cylinder 2.2.1 is installed on the product conveyor 2.1, and a blister pack blocking component 2.2.2 is connected to the output end of the blister pack blocking cylinder 2.2.1. When the blister pack 7 reaches a predetermined position along the conveying direction, the blister pack blocking cylinder 2.2.1 drives the blister pack blocking component 2.2.2 to extend, preventing the blister pack 7 from continuing to move forward. In this embodiment, each blister pack lifting working position is equipped with a blister pack blocking cylinder 2.2.1 and a blister pack blocking component 2.2.2 on both the front and rear sides. Figure 9 The two sets of blister tray lifting and positioning components 2.2 shown share a set of blister tray blocking cylinders 2.2.1 and blister tray blocking components 2.2.2 located between them.

[0063] A pair of blister tray lifting cylinders 2.2.3 are respectively installed on both sides of the product conveyor 2.1, and the output end of each blister tray lifting cylinder 2.2.3 is connected to a blister tray support plate 2.2.4. After the blister tray 7 is blocked, the blister tray lifting cylinder 2.2.3 drives the blister tray support plate 2.2.4 and the blister tray 7 to rise together to the second working height.

[0064] The blister tray positioning cylinders 2.2.5 are arranged diagonally on the product conveyor 2.1. For example... Figure 10 As shown, the output end of each blister tray positioning cylinder 2.2.5 is connected to a blister tray positioning component 2.2.6. The front end of the blister tray positioning component 2.2.6 is provided with two vertically arranged positioning rods 2.2.6.1. When the blister tray 7 is raised to the second working height, the blister tray positioning cylinder 2.2.5 drives the blister tray positioning component 2.2.6 to move, so that the positioning rods 2.2.6.1 contact the two sides of the corner of the blister tray 7, thereby achieving high-precision horizontal positioning of the blister tray 7.

[0065] The photoelectric sensor 2.2.7 is installed on the product conveyor 2.1 to detect whether the blister tray 7 is in place, so as to control the timing of the action of the blister tray blocking cylinder 2.2.1 and the blister tray lifting cylinder 2.2.3.

[0066] In this embodiment, a pair of diagonally arranged blister tray positioning cylinders 2.2.5 drive the blister tray positioning component 2.2.6, so that the two vertically arranged positioning rods 2.2.6.1 at the front end of the blister tray positioning component 2.2.6 contact the two sides of the corner of the blister tray 7, thereby achieving high-precision positioning and ensuring that the product falls accurately into the cavity of the blister tray 7.

[0067] (ii) Blister tray buffer component The blister tray buffer assembly 2.3 is installed on the blister tray and product conveyor line 2, and is arranged sequentially with the blister tray lifting and positioning assembly 2.2 along the conveying direction of the product conveyor 2.1. The blister tray buffer assembly 2.3 is used to lift the blister tray 7 to the buffer height, and in the lifted state, the conveying channel of the product conveyor 2.1 located below the blister tray remains unobstructed.

[0068] like Figure 8 and Figure 11 As shown, the blister pack buffer assembly 2.3 includes a blister pack buffer blocking cylinder 2.3.1, a blister pack buffer blocking component 2.3.2, a pair of blister pack buffer lifting cylinders 2.3.3, and a pair of blister pack buffer support plates 2.3.4. Figure 8 As shown, in each blister pack operation unit of this embodiment, the blister pack buffer assembly 2.3 is adjacent to a set of blister pack lifting and positioning assemblies 2.2 located on the last side of the operation unit.

[0069] To save costs, the blister tray buffer assembly 2.3 does not have separate blister tray buffer blocking cylinders 2.3.1 and blister tray buffer blocking components 2.3.2. Instead, these functions are combined by the blister tray blocking cylinders 2.2.1 and blister tray blocking components 2.2.2 located on the rear side of the adjacent blister tray lifting and positioning assembly 2.2. That is, the rear blocking component of the blister tray lifting and positioning assembly 2.2 also serves as the blocking component of the blister tray buffer assembly 2.3, used to block the blister tray 7 to be buffered. Of course, those skilled in the art will understand that in other embodiments, the blister tray buffer assembly 2.3 may also have separate blister tray buffer blocking cylinders and blister tray buffer blocking components to achieve the same buffering function.

[0070] The lifting principle of the blister tray buffer assembly 2.3 is the same as that of the lifting part of the blister tray lifting and positioning assembly 2.2, but the blister tray positioning cylinder 2.2.5 and the blister tray positioning component 2.2.6 are omitted.

[0071] In this embodiment, by setting up a blister tray buffer component 2.3, subsequent incoming materials can be lifted and buffered during the operation of the blister tray lifting and positioning component 2.2, thus avoiding blockage of the conveyor line. At the same time, the lower conveying channel remains unobstructed during the lifting state, without affecting the passage of other materials. This achieves parallel operation of buffering and conveying, improving the production cycle and operational stability of the equipment.

[0072] (iii) Entrance foolproof detection components The entry error-proof detection component 2.4 is installed at the incoming end of the product conveyor 2.1 to detect whether the incoming blister pack 7 matches the product to be packaged. Figure 12As shown, the entrance error-proof detection component 2.4 includes a camera 2.4.2, a camera bracket 2.4.1, and a ring light source 2.4.3. The camera bracket 2.4.1 is mounted on the product conveyor 2.1, and the camera 2.4.2 and ring light source 2.4.3 are mounted on the camera bracket 2.4.1. The camera 2.4.2 is used to capture images of the blister pack 7, and the ring light source 2.4.3 is located around the camera 2.4.2 to provide uniform illumination. When the camera 2.4.2 captures an image of the blister pack 7, the controller identifies the specifications of the blister pack 7 based on the image and determines whether it matches the current product. If they do not match, the equipment issues an alarm signal, prompting the operator to replace the blister pack 7, thus avoiding the problem of mismatch between the blister pack and the product caused by manual loading errors.

[0073] IV. Robot Sorting Components like Figure 1 and Figure 13 As shown, in this embodiment, the robot sorting component 3 is provided in six groups, and each group of robot sorting components 3 corresponds to a set of baking tray lifting and positioning components 1.2. The six groups of robot sorting components 3 are divided into three robot sorting operation units. Each operation unit includes two groups of robot sorting components 3, which correspond to two sets of baking tray lifting and positioning components 1.2 in a baking tray operation unit.

[0074] The robot sorting component 3 includes a sorting frame 3.1, a robot gripping component 3.2 mounted on the sorting frame 3.1, a vision component 3.3, and a quick-change gripper placement component 3.4.

[0075] (a) Visual components like Figure 19 As shown, the vision component 3.3 includes a camera 3.3.1 and a translation module 3.3.2. The translation module 3.3.2 is mounted on a mounting beam on the sorting frame 3.1, and the camera 3.3.1 is mounted on a slider of the translation module 3.3.2. The translation module 3.3.2 is used to drive the camera 3.3.1 to move in the back-and-forth direction, enabling the camera 3.3.1 to capture images of the products in the baking tray 6 from multiple positions. This is because the egg tarts and egg tart crusts have different colors due to differences in materials, and the baking tray 6 is relatively large. When shooting with a fixed camera, the edge imaging is poor. Moving the camera to multiple positions ensures that the products in all areas of the baking tray 6 can be clearly imaged.

[0076] Camera 3.3.1 communicates with the robot grasping component 3.2. The product position information collected by camera 3.3.1 guides the robot grasping component 3.2 to grasp the product at the corresponding position. Light source component 1.4 provides a uniform lighting environment for vision component 3.3, ensuring that the images collected by vision component 3.3 are sufficiently clear. (ii) Robotic gripping component like Figure 14As shown, the robot gripping component 3.2 includes a robot 3.2.1 and a quick-change gripper 3.2.2. In this embodiment, the robot 3.2.1 adopts a parallel mechanism, which has the characteristics of fast response speed and high positioning accuracy, and can meet the production cycle requirements of high-speed gripping and placing.

[0077] like Figure 15 As shown, the quick-change gripper 3.2.2 includes a quick-change mechanism T3.2.2.1, a quick-change mechanism R3.2.2.2, a connecting plate 3.2.2.3, a pneumatic gripper 3.2.2.4, and multiple gripping segments 3.2.2.5. The quick-change mechanism T3.2.2.1 is fixedly connected to the end effector of the robot 3.2.1. Both the quick-change mechanism R3.2.2.2 and the pneumatic gripper 3.2.2.4 are mounted on the connecting plate 3.2.2.3. The quick-change mechanisms T3.2.2.1 and R3.2.2.2 can be pneumatically locked or unlocked, thereby enabling rapid replacement of the quick-change gripper 3.2.2.

[0078] Multiple clamping segments 3.2.2.5 are installed at the output end of the pneumatic gripper 3.2.2.4 and are circumferentially distributed around a central axis for gripping the product from the side. In this embodiment, the clamping segments 3.2.2.5 are made of POM material, which has good wear resistance and self-lubricating properties and will not damage the crispy tart crust. By controlling the air supply pressure of the pneumatic gripper 3.2.2.4 through a precision pressure regulating valve, the clamping force can be precisely adjusted to achieve flexible gripping and stably hold the product without crushing the crispy tart crust. When it is necessary to grip tarts and tart crusts of different sizes or with different physical properties, the corresponding clamping segments 3.2.2.5 can be replaced to adapt to multiple product categories.

[0079] (iii) Quick-change gripper placement component like Figures 16 to 18 As shown, the quick-change gripper placement assembly 3.4 is installed on the sorting frame 3.1 and is used to store quick-change grippers 3.2.2 of various specifications. The quick-change gripper placement assembly 3.4 includes a mounting base 3.4.1, an adjusting plate 3.4.2, a leveling assembly 3.4.3, a positioning flange 3.4.4, and a sensing assembly 3.4.5.

[0080] Mounting base 3.4.1 is fixedly connected to sorting frame 3.1. Leveling plate 3.4.2 is mounted on mounting base 3.4.1 via leveling assembly 3.4.3 and can be adjusted to a horizontal state to ensure the horizontality and docking accuracy of quick-change gripper 3.2.2 when placed. Positioning flange 3.4.4 is mounted on leveling plate 3.4.2. Positioning pin 3.2.2.3.1 is provided on connecting plate 3.2.2.3. The positioning pin 3.2.2.3.1 cooperates with positioning flange 3.4.4 to achieve precise positioning of quick-change gripper 3.2.2 on leveling plate 3.4.2. Sensing assembly 3.4.5 is mounted on leveling plate 3.4.2 to detect whether quick-change gripper 3.2.2 is accurately placed on or moved off leveling plate 3.4.2.

[0081] When a product category needs to be changed, robot 3.2.1 automatically moves the current quick-change gripper 3.2.2 to the corresponding position on the quick-change gripper placement assembly 3.4, unlocks the quick-change mechanism via pneumatic drive, and places the gripper on the adjustment plate 3.4.2. It then moves to another position, picks up the required size quick-change gripper 3.2.2, and locks it via pneumatic drive. Once the sensing assembly 3.4.5 detects that the gripper has been accurately placed or picked up, robot 3.2.1 can begin a new round of gripping operations. The entire product changeover process is completed automatically without human intervention.

[0082] This embodiment uses multiple circumferentially distributed grippers 3.2.2.5 of the quick-change gripper 3.2.2 to hold the product from the side, and the adjustable air pressure characteristics of the pneumatic gripper 3.2.2.4 enable flexible gripping, achieving non-destructive gripping of crisp and fragile products such as egg tarts and egg tart crusts. It can also be adapted to multiple product categories by changing the grippers 3.2.2.5. Through the pneumatically driven quick-change mechanism and the quick-change gripper placement component 3.4, automatic replacement and precise positioning of the grippers are achieved, which greatly shortens the product changeover time and improves the equipment's multi-variety adaptability and automation level.

[0083] V. High-speed plate disassembly machine The high-speed tray unpacking machine 4 is connected to the infeed end of the blister trays and product conveyor line 2, and is used to separate the stacked blister trays 7 one by one and place them on the product conveyor 2.1. Figure 20 As shown, the high-speed tray unpacking machine 4 includes a tray unpacking frame 4.1, an adjusting assembly 4.2, a tray unpacking assembly 4.3, and a blister tray conveyor 4.4. The blister tray conveyor 4.4 is located below the tray unpacking assembly 4.3 and is used to receive and transport the separated blister trays 7. The blister tray conveyor 4.4 is an optional configuration; it can be used as a transitional conveyor line or omitted, allowing the high-speed tray unpacking machine 4 to be directly mounted on the product conveyor 2.1, flexibly adapting to the layout requirements of different production sites.

[0084] There are four tray removal components 4.3, which are mounted on the tray removal frame 4.1 via adjustment components 4.2 and are arranged in a rectangular shape along the horizontal direction. The adjustment components 4.2 can drive the tray removal components 4.3 to move, thereby adjusting the spacing between each tray removal component 4.3, so as to flexibly adapt to blister trays 7 of different lengths and widths.

[0085] like Figure 20 As shown, the adjustment assembly 4.2 includes a vertical adjustment slide 4.2.1, an adjustment mounting bracket 4.2.2, an adjustment support bracket 4.2.3, a horizontal adjustment slide 4.2.4, and a front-to-back adjustment slide 4.2.5. The adjustment mounting bracket 4.2.2 is mounted on the disassembly frame 4.1 via the vertical adjustment slide 4.2.1, which is used to adjust the vertical position of the adjustment mounting bracket 4.2.2. Two adjustment support brackets 4.2.3 are provided. The right adjustment support bracket 4.2.3 is locked and fixed to the adjustment mounting bracket 4.2.2, while the left adjustment support bracket 4.2.3 is mounted on the adjustment mounting bracket 4.2.2 via the horizontal adjustment slide 4.2.4, which is used to adjust the horizontal position of the left adjustment support bracket 4.2.3. The two front tray removal components 4.3 are fixedly mounted on two adjusting support frames 4.2.3, and the two rear tray removal components 4.3 are mounted on the two adjusting support frames 4.2.3 via two front-to-back adjusting slides 4.2.5. The front-to-back adjusting slides 4.2.5 are used to adjust the front-to-back position of the two rear tray removal components 4.3. Through the aforementioned adjusting components 4.2, the tray removal components 4.3 can be flexibly adjusted in three directions: up and down, front and back, and left and right, which can improve the equipment's adaptability to blister trays 7 of different sizes.

[0086] Figure 21 The structure of the rear disassembly assembly 4.3 is shown, differing from the front disassembly assembly only in whether it is mounted on the adjusting support frame 4.2.3 via a front-to-rear adjusting slide 4.2.5. Figure 21 As shown, the disassembly assembly 4.3 includes a disassembly bracket 4.3.1, a disassembly drive mechanism 4.3.2, an inlet pressure plate 4.3.3, a cam with a spiral groove 4.3.4, a flange seat 4.3.5, a detection component 4.3.6, and a blister tray limiting component 4.3.7. The disassembly drive mechanism 4.3.2 is mounted on the disassembly bracket 4.3.1 and is connected to the cam 4.3.4 for transmission, so as to drive the cam 4.3.4 to rotate synchronously with the inlet pressure plate 4.3.3.

[0087] The inlet pressure plate 4.3.3 is fixed to the upper end of the cam 4.3.4 in an adjustable circumferential angle manner. For example... Figure 22As shown, the inlet pressure plate 4.3.3 has a long, circumferentially extending mounting hole 4.3.3.4. The inlet pressure plate 4.3.3 is locked and fixed to the flange seat 4.3.5 and the cam 4.3.4 by fasteners passing through the long, circumferential mounting hole 4.3.3.4. This installation method not only ensures the installation firmness of the inlet pressure plate 4.3.3, but also allows for fine adjustment of the circumferential angle. It can compensate for the positional and angular deviations of the four disassembly components 4.3 during the assembly process, so that each inlet pressure plate 4.3.3 can accurately adapt to the actual placement angle and shape of the stacked blister trays 7.

[0088] The inlet pressure plate 4.3.3 has an opening 4.3.3.1. A horizontal support portion 4.3.3.2 is formed on one side of the opening 4.3.3.1, and a pressing portion 4.3.3.3, which is higher than the horizontal support portion 4.3.3.2, is formed on the other side. The height difference between the pressing portion 4.3.3.3 and the horizontal support portion 4.3.3.2 is not greater than the gap between the stacked blister trays 7. During operation, the pressing portion 4.3.3.3 of the inlet pressure plate 4.3.3 presses the bottommost blister tray 7 into the spiral groove of the cam 4.3.4, while the horizontal support portion 4.3.3.2 simultaneously supports the stacked blister trays 7 above. The cam 4.3.4, guided by the spiral groove, drives the bottommost blister tray 7 to move smoothly downward, achieving reliable separation of the blister trays 7 piece by piece.

[0089] Cam 4.3.4 is made of POM material, which has good strength, wear resistance, and toughness, effectively reducing its own load while ensuring its own strength. Inlet pressure plate 4.3.3 is made of stainless steel, which has good wear resistance and corrosion resistance. Inlet pressure plate 4.3.3 and cam 4.3.4 adopt a detachable and modular design. When wear occurs after long-term use, inlet pressure plate 4.3.3 can be removed and replaced separately without replacing the entire cam assembly, making maintenance convenient and cost-effective.

[0090] The slotted photoelectric sensor in detection component 4.3.6 is mounted on the disassembly bracket 4.3.1, and the sensing element is correspondingly mounted on the output shaft of the disassembly drive mechanism 4.3.2. The two work together to detect the number of rotations of the cam 4.3.4, thereby controlling the counting of disassembly actions. The blister tray limiter 4.3.7 is mounted on the disassembly bracket 4.3.1 in an adjustable position. It is rod-shaped, and each disassembly component 4.3 can be equipped with 1 to 2 rods. Through multi-directional limiting constraints in the front, back, left, and right directions, it can straighten and position the blister trays 7 that have deformed after long-term use and are prone to tilting or skewing after stacking, ensuring that the blister trays 7 maintain a stable falling posture.

[0091] The disassembly assembly 4.3 in this embodiment adopts a continuous rotary disassembly structure, which has high disassembly efficiency and can meet the supply requirements of empty blister trays 7 for high-speed continuous production. Through four rectangularly distributed adjustable disassembly assemblies 4.3 and adjustable-angle inlet pressure plates 4.3.3, it can flexibly adapt to blister trays 7 of different sizes and deformation degrees, ensuring stable and reliable disassembly. The inlet pressure plate 4.3.3 and cam 4.3.4 adopt a detachable and modular design, allowing for individual replacement of vulnerable parts and low maintenance costs. Furthermore, the inlet pressure plate 4.3.3 achieves circumferential angle fine adjustment through elongated mounting holes 4.3.3.4, which can compensate for positional and angular deviations of the four disassembly assemblies 4.3 during assembly, enabling each inlet pressure plate 4.3.3 to adapt to the actual placement angle and shape of stacked blister trays 7, further improving disassembly consistency and stability.

[0092] VI. Post-processing inspection and rejection The transition conveyor 2.5 is located at the outlet of the product conveyor 2.1 and is used to receive and transport the blister trays 7 that have been loaded from the product conveyor 2.1. The transition conveyor 2.5 is equipped with an inlet detection photoelectric sensor 2.5.1 on the inlet side and an outlet detection photoelectric sensor 2.5.2 on the outlet side to detect the arrival status of the blister trays 7.

[0093] like Figure 23 As shown, the non-conforming product visual inspection component 2.6 and the non-conforming product rejection component 2.7 are sequentially installed on the transition conveyor 2.5 along the conveying direction.

[0094] The visual inspection assembly 2.6 for non-conforming products includes an inspection bracket 2.6.1, an inspection camera 2.6.2, an inspection blocking cylinder 2.6.5, and an inspection blocking component 2.6.4. The inspection bracket 2.6.1 is mounted on the transition conveyor 2.5. The inspection camera 2.6.2 is mounted on the inspection bracket 2.6.1 and is used to capture images of the products inside the blister pack 7 to determine whether it is full. A light source 2.6.3 is provided on the inspection bracket 2.6.1 to illuminate the inspection camera 2.6.2. The inspection blocking cylinder 2.6.5 is mounted on the inspection bracket 2.6.1, and its output end is connected to the inspection blocking component 2.6.4. When the blister pack 7 enters the detection area, the entrance detection photoelectric sensor 2.5.1 sends a signal, and the detection blocking cylinder 2.6.5 drives the detection blocking component 2.6.4 to extend, blocking the blister pack 7 and keeping it stationary so that the detection camera 2.6.2 can stably acquire images; after the detection is completed, the detection blocking cylinder 2.6.5 drives the detection blocking component 2.6.4 to retract, releasing the blister pack 7.

[0095] The non-conforming product rejection component 2.7 includes a rejection bracket 2.7.1, a rejection driving cylinder 2.7.2, a dial plate 2.7.3, a rejection blocking cylinder 2.7.6 and a rejection blocking member 2.7.4. The rejection bracket 2.7.1 is installed on the transfer conveyor 2.5, and the rejection blocking cylinder 2.7.6 is installed on the rejection bracket 2.7.1. Its output end is connected to the rejection blocking member 2.7.4, which is used to block the blister tray 7 determined to be non-conforming. The rejection driving cylinder 2.7.2 is installed on the rejection bracket 2.7.1, and the dial plate 2.7.3 is connected to the output end of the rejection driving cylinder 2.7.2.

[0096] When the image collected by the detection camera 2.6.2 is determined to be qualified (the blister tray is full) by the controller, the blister tray 7 directly continues to be conveyed backward through the transfer conveyor 2.5. After being detected by the outlet detection optoelectronic device 2.5.2, a material receiving signal is sent to the subsequent packaging machine. When it is determined to be non-conforming (not full or product missing), the blister tray 7 enters the rejection area. The rejection blocking cylinder 2.7.6 drives the rejection blocking member 2.7.4 to extend, blocking the non-conforming blister tray 7. Subsequently, the rejection driving cylinder 2.7.2 drives the dial plate 2.7.3 to move, removing the blocked non-conforming blister tray 7 from the transfer conveyor 2.5 to the non-conforming blister tray parking position 2.7.5 for manual processing. The qualified products continue to be conveyed to the subsequent packaging machine.

[0097] VII. Equipment working process (I) Loading and packaging mode 1. Empty blister tray feeding: The stacked empty blister trays 7 are placed in the high-speed tray unstacker 4. The tray unstacking driving mechanism 4.3.2 of the high-speed tray unstacker 4 drives the cam 4.3.4 and the inlet pressing piece 4.3.3 to rotate synchronously. The pressing part 4.3.3.3 of the inlet pressing piece 4.3.3 presses the lowermost blister tray 7 into the spiral groove of the cam 4.3.4, and the horizontal supporting part 4.3.3.2 synchronously supports the stacked blister trays 7 above. The cam 4.3.4 drives the lowermost blister tray 7 to move down smoothly, realizing the separation of the blister trays 7 one by one. The separated blister trays 7 are conveyed through the blister tray conveyor 4.4 or directly placed on the product conveyor 2.1.

[0098] 2. Blister tray conveying and anti-fooling detection: The empty blister tray 7 is conveyed forward along the product conveyor 2.1. The camera 2.4.2 of the inlet anti-fooling detection component 2.4 collects the image of the blister tray 7, and the controller judges whether its specification matches the product to be packaged. If it matches, the blister tray 7 is allowed to continue to be conveyed; if it does not match, the equipment alarms, prompting the operator to replace the blister tray 7.

[0099] 3. Blister tray lifting and positioning: When the empty blister tray 7 reaches the position of the blister tray lifting and positioning assembly 2.2, the blister tray blocking cylinder 2.2.1 drives the blister tray blocking component 2.2.2 to extend and block the blister tray 7. After the photoelectric sensor 2.2.7 detects that the blister tray 7 is in place, the blister tray lifting cylinder 2.2.3 drives the blister tray support plate 2.2.4 and the blister tray 7 to rise together to the second working height. Subsequently, the diagonally arranged blister tray positioning cylinders 2.2.5 drive the blister tray positioning component 2.2.6 to move, so that the positioning rod 2.2.6.1 contacts the two sides of the corner of the blister tray 7, achieving high-precision positioning.

[0100] 4. Baking Pan Conveying and Lifting Positioning: The baking pan 6 containing the product enters the baking pan positioning conveyor line 1 via the baking pan transition conveyor 5 and is conveyed forward along the baking pan conveyor 1.1. When it reaches the baking pan lifting and positioning component 1.2, the baking pan blocking cylinder 1.2.1 drives the baking pan blocking component 1.2.2 to extend and block the baking pan 6, achieving front-to-back positioning. Subsequently, the baking pan opening and closing cylinder 1.2.3 drives the baking pan lifting cylinder 1.2.4 and the baking pan support plate 1.2.5 to move left and right as a whole, so that the vertical part 1.2.5.2 of the baking pan support plate 1.2.5 clamps the baking pan 6 from both sides, achieving left-to-right positioning. After positioning is completed, the baking pan lifting cylinder 1.2.4 drives the baking pan support plate 1.2.5 and the baking pan 6 to rise together to the first working height.

[0101] 5. Visual Guidance and Product Grabbing: The camera 3.3.1 of the vision component 3.3 moves horizontally under the drive of the translation module 3.3.2, acquiring images of the product within the baking tray 6 from multiple positions and sending the product position information to the robot gripping component 3.2. Based on the position information, the robot gripping component 3.2, driven by the robot 3.2.1, moves the quick-change gripper 3.2.2 to the corresponding product position. The pneumatic gripper 3.2.2.4 drives the clamping flap 3.2.2.5 to grip the product from the side, thus removing the product from the baking tray 6.

[0102] 6. Product Placement: The robot gripping component 3.2 moves the product above the pre-lifted and positioned blister tray 7 and precisely places it into the corresponding cavity of the blister tray 7.

[0103] 7. Post-loading conveying: After the blister tray 7 is filled with products, the blister tray lifting cylinder 2.2.3 lowers, placing the blister tray 7 back onto the conveying surface of the product conveyor 2.1. The blister tray 7 continues to be conveyed backward, passing through the inlet detection photoelectric sensor 2.5.1 before entering the transition conveyor 2.5.

[0104] 8. Non-conforming Product Detection and Rejection: The detection camera 2.6.2 of the non-conforming product visual inspection component 2.6 captures images of the products inside the blister tray 7, and the controller determines whether it is full. If it is determined to be a qualified product, the blister tray 7 continues to be conveyed to the subsequent packaging machine; if it is determined to be a non-conforming product (such as missing products or abnormal placement), the blocking component 2.7.4 extends to block the blister tray 7, and the rejection drive cylinder 2.7.2 drives the turntable 2.7.3 to move it from the transition conveyor 2.5 to the non-conforming blister tray parking position 2.7.5. The exit detection photoelectric sensor 2.5.2 detects the outflow signal of qualified products and notifies the subsequent packaging machine to prepare for receiving materials.

[0105] 9. Baking Tray Buffering and Replacement: After all products in a set of baking trays 6 have been picked up, the baking tray lifting and positioning component 1.2 descends, placing the empty baking tray 6 back onto the conveyor surface of the baking tray conveyor 1.1. The empty baking tray 6 is then transported downstream for recycling. Subsequent fully loaded baking trays 6 are buffered by the baking tray buffer component 1.3 and sequentially enter the baking tray lifting and positioning component 1.2 for continued operation. The baking tray buffer component 1.3 ensures a continuous supply of baking trays 6, avoiding production interruptions caused by changing baking trays 6.

[0106] (ii) Individual Packaging Model When individual packaging is required, the blister tray lifting and positioning component 2.2 does not work, and the product conveyor 2.1 serves as the product conveying channel.

[0107] 1. Baking tray conveying and lifting positioning: Similar to the tray packaging mode, the baking tray 6 enters the baking tray positioning conveyor line 1 via the baking tray transition conveyor 5, and is lifted and positioned to the first working height by the baking tray lifting and positioning component 1.2.

[0108] 2. Visual guidance and product grasping: Similar to the plating and packaging mode, the visual component 3.3 guides the robot grasping component 3.2 to grasp the product from the baking tray 6.

[0109] 3. Product Placement on the Conveyor Line: The robot gripping component 3.2 places the products directly onto the product conveyor 2.1 at fixed intervals. The product conveyor 2.1 is equipped with an encoder, which communicates with the robot gripping component 3.2, providing real-time feedback on the conveyor belt's position. Based on the encoder's feedback, the robot gripping component 3.2 precisely controls the placement timing, ensuring the products maintain the set spacing on the conveyor belt and preventing collisions that could cause damage.

[0110] 4. Product Conveying: Products placed on product conveyor 2.1 are conveyed to the subsequent independent packaging machine for individual packaging. Transition conveyor 2.5, non-conforming product visual inspection assembly 2.6, and non-conforming product rejection assembly 2.7 are shut down.

Claims

1. An automatic tray-loading and sorting equipment for multiple types of egg tarts and egg tart crusts, characterized in that, include: The baking tray positioning conveyor line (1) includes a baking tray conveyor (1.1) and a baking tray lifting and positioning assembly (1.2); the baking tray lifting and positioning assembly (1.2) is provided with at least two sets along the conveying direction of the baking tray conveyor (1.1); the baking tray lifting and positioning assembly (1.2) is used to lift the baking tray (6) on the baking tray conveyor (1.1) to a first working height and perform horizontal positioning, and in the lifting state, the conveying channel of the baking tray conveyor (1.1) located below the baking tray remains unobstructed; The blister tray and product conveying line (2) includes a product conveyor (2.1) and a blister tray lifting and positioning assembly (2.2); the blister tray lifting and positioning assembly (2.2) is provided with at least two sets along the conveying direction of the product conveyor (2.1); the blister tray lifting and positioning assembly (2.2) is used to lift the blister tray (7) on the product conveyor (2.1) to a second working height and perform horizontal positioning, and in the lifting state, the conveying channel of the product conveyor (2.1) located below the blister tray remains unobstructed; The robot sorting component (3) is provided with at least two sets, each set of the robot sorting component (3) corresponding to a set of baking tray lifting and positioning components (1.2); the robot sorting component (3) includes a sorting frame (3.1) and a robot gripping component (3.2) and a vision component (3.3) installed on the sorting frame (3.1); the vision component (3.3) includes a camera (3.3.1) and a translation module (3.3.2), the translation module (3.3.2) being used to drive the camera (3.3.1) to move horizontally. The camera (3.3.1) is moved so that it can capture images of the product in the baking tray (6); the camera (3.3.1) is communicatively connected to the robot gripping component (3.2), and the product position information captured by the camera (3.3.1) is used to guide the robot gripping component (3.2) to grip the product at the corresponding position; the robot gripping component (3.2) is used to grip the product from the baking tray (6) at the first working height and place the product in the blister tray (7) at the second working height or directly on the product conveyor (2.1).

2. The automatic tray-loading and sorting equipment for multi-variety egg tarts and egg tart crusts according to claim 1, characterized in that, The baking pan lifting and positioning assembly (1.2) includes a baking pan blocking cylinder (1.2.1), a baking pan blocking component (1.2.2), a pair of baking pan opening and closing cylinders (1.2.3), a pair of baking pan lifting cylinders (1.2.4), and a pair of baking pan support plates (1.2.5). The baking pan blocking cylinder (1.2.1) is mounted on the baking pan conveyor (1.1), and the output of the baking pan blocking component (1.2.2) and the baking pan blocking cylinder (1.2.1) are connected. The baking tray blocking cylinder (1.2.1) is used to drive the baking tray blocking component (1.2.2) to extend and block the baking tray (6), thereby achieving the front-to-back positioning of the baking tray (6); the pair of baking tray support plates (1.2.5) are arranged on both sides of the baking tray conveyor (1.1), and each baking tray support plate (1.2.5) has a horizontal part (1.2.5.1) and a vertical part (1.2.5.2); the horizontal part of the baking tray support plate (1.2.5) (1.2.5.1) is used to carry the conveyed baking tray (6); the pair of baking tray opening and closing cylinders (1.2.3) are respectively arranged on both sides of the baking tray conveyor (1.1), and the output end of each baking tray opening and closing cylinder (1.2.3) is connected to a baking tray lifting cylinder (1.2.4); the output end of each baking tray lifting cylinder (1.2.4) is connected to a baking tray support plate (1.2.5); the baking tray opening and closing cylinder (1.2.3) is used to drive The baking pan lifting cylinder (1.2.4) and the baking pan support plate (1.2.5) are moved left and right as a whole, so that the vertical part (1.2.5.2) of the baking pan support plate (1.2.5) clamps the baking pan (6) from both sides, thereby positioning the baking pan (6) in the left and right directions; the baking pan lifting cylinder (1.2.4) is used to drive the baking pan support plate (1.2.5) and the baking pan (6) to rise together to the first working height after the baking pan (6) is clamped and positioned; The blister tray lifting and positioning assembly (2.2) includes a blister tray blocking cylinder (2.2.1), a blister tray blocking component (2.2.2), a pair of blister tray lifting cylinders (2.2.3), a pair of blister tray support plates (2.2.4), a pair of blister tray positioning cylinders (2.2.5) arranged diagonally, and a blister tray positioning component (2.2.6); the blister tray blocking cylinder (2.2.1) is mounted on the product conveyor (2.1), and the blister tray blocking component (2.2.2) and the blister tray blocking cylinder (2.2.6) are connected. The output end of 2.2.1) is connected to the blister tray blocking cylinder (2.2.1), which is used to drive the blister tray blocking component (2.2.2) to extend and block the blister tray (7); the pair of blister tray lifting cylinders (2.2.3) are respectively arranged on both sides of the product conveyor (2.1), and the output end of each blister tray lifting cylinder (2.2.3) is connected to a blister tray support plate (2.2.4); the blister tray lifting cylinder (2.2.3) is used to drive the blister tray support plate (2.2.4) and the blister tray (7) together to move up after the blister tray blocking component (2.2.2) blocks the blister tray. Raise to the second working height; the blister tray positioning cylinder (2.2.5) is set on the product conveyor (2.1), and the output end of each blister tray positioning cylinder (2.2.5) is connected to a blister tray positioning component (2.2.6). The front end of the blister tray positioning component (2.2.6) is provided with two vertically arranged positioning rods (2.2.6.1); the blister tray positioning cylinder (2.2.5) is used to drive the blister tray positioning component (2.2.6) to move, so that the positioning rods (2.2.6.1) contact the two sides of the corner of the blister tray (7) to achieve horizontal positioning of the blister tray (7).

3. The automatic tray-loading and sorting equipment for multi-variety egg tarts and egg tart crusts according to claim 1, characterized in that, The baking pan positioning conveyor line (1) further includes at least one baking pan buffer component (1.3); the baking pan buffer component (1.3) is disposed on the baking pan positioning conveyor line (1) and is arranged sequentially with the baking pan lifting and positioning component (1.2) along the conveying direction of the baking pan conveyor (1.1); the baking pan buffer component (1.3) is used to lift the baking pan (6) to the buffer height, and in the lifting state, the conveying channel of the baking pan conveyor (1.1) located below the baking pan (6) remains unobstructed; The blister tray and product conveying line (2) also includes at least one blister tray buffer component (2.3); the blister tray buffer component (2.3) is disposed on the blister tray and product conveying line (2) and is arranged sequentially with the blister tray lifting and positioning component (2.2) along the conveying direction of the product conveyor (2.1); the blister tray buffer component (2.3) is used to lift the blister tray (7) to the buffer height, and in the lifting state, the conveying channel of the product conveyor (2.1) located below the blister tray (7) remains unobstructed.

4. The automatic tray-loading and sorting equipment for multi-variety egg tarts and egg tart crusts according to claim 3, characterized in that, The baking pan lifting and positioning component (1.2) is divided into multiple baking pan operation units. Each baking pan operation unit includes two sets of the baking pan lifting and positioning components (1.2) arranged sequentially along the conveying direction, and a baking pan buffer component (1.3) arranged between the two sets of baking pan lifting and positioning components (1.2). The blister tray lifting and positioning assembly (2.2) is divided into multiple blister tray operation units. Each blister tray operation unit includes four consecutive sets of the blister tray lifting and positioning assemblies (2.2) arranged sequentially along the conveying direction. Each blister tray operation unit has a blister tray buffer assembly (2.3) on the material receiving side.

5. The automatic tray-loading and sorting equipment for multi-variety egg tarts and egg tart crusts according to claim 3 or 4, characterized in that, The baking tray buffer assembly (1.3) includes a baking tray buffer blocking cylinder (1.3.1), a baking tray buffer blocking component (1.3.2), a pair of baking tray buffer lifting cylinders (1.3.3), and a pair of baking tray buffer support plates (1.3.4). The baking tray buffer blocking cylinder (1.3.1) is mounted on the baking tray conveyor (1.1), and the baking tray buffer blocking component (1.3.2) is connected to the output end of the baking tray buffer blocking cylinder (1.3.1). The baking tray buffer blocking cylinder (1.3.1) is used to drive the baking tray buffer blocking component (1.3.2) to extend. To block the baking tray (6); the pair of baking tray buffer lifting cylinders (1.3.3) are respectively set on both sides of the baking tray conveyor (1.1), and the output end of each baking tray buffer lifting cylinder (1.3.3) is connected to a baking tray buffer support plate (1.3.4); the baking tray buffer lifting cylinder (1.3.3) is used to drive the baking tray buffer support plate (1.3.4) and the baking tray (6) to rise together to the buffer height after the baking tray (6) is blocked, and the conveying channel of the baking tray conveyor (1.1) below the baking tray (6) remains unobstructed in the lifting state; The blister pack buffer assembly (2.3) includes a blister pack buffer blocking cylinder (2.3.1), a blister pack buffer blocking component (2.3.2), a pair of blister pack buffer lifting cylinders (2.3.3), and a pair of blister pack buffer support plates (2.3.4). The blister pack buffer blocking cylinder (2.3.1) is mounted on the product conveyor (2.1), and the blister pack buffer blocking component (2.3.2) is connected to the output end of the blister pack buffer blocking cylinder (2.3.1). The blister pack buffer blocking cylinder (2.3.1) is used to drive the blister pack buffer blocking component (2.3.2) to extend. The blister pack (7) is blocked; the pair of blister pack buffer lifting cylinders (2.3.3) are respectively set on both sides of the product conveyor (2.1), and the output end of each blister pack buffer lifting cylinder (2.3.3) is connected to a blister pack buffer support plate (2.3.4); the blister pack buffer lifting cylinder (2.3.3) is used to drive the blister pack buffer support plate (2.3.4) and the blister pack (7) to rise together to the buffer height after the blister pack (7) is blocked, and the conveying channel of the product conveyor (2.1) below the blister pack (7) remains unobstructed in the lifting state.

6. The automatic tray-loading and sorting equipment for multi-variety egg tarts and egg tart crusts according to claim 1, characterized in that, The robot gripping assembly (3.2) includes a robot (3.2.1) and a quick-change gripper (3.2.2); the quick-change gripper (3.2.2) includes a quick-change mechanism T (3.2.2.1), a quick-change mechanism R (3.2.2.2), a connecting plate (3.2.2.3), a pneumatic gripper (3.2.2.4), and multiple gripping segments (3.2.2.5); the quick-change mechanism T (3.2.2.1) is connected to the end of the robot (3.2.1); The quick-change mechanism R (3.2.2.2) and the pneumatic gripper (3.2.2.4) are both mounted on the connecting plate (3.2.2.3); the quick-change mechanism T (3.2.2.1) and the quick-change mechanism R (3.2.2.2) can be locked or opened by pneumatic drive; the multiple clamping segments (3.2.2.5) are mounted on the output end of the pneumatic gripper (3.2.2.4), and the multiple clamping segments (3.2.2.5) are circumferentially distributed around a central axis; The robot sorting component (3) further includes a quick-change gripper placement component (3.4); the quick-change gripper placement component (3.4) is mounted on the sorting frame (3.1) and includes a mounting base (3.4.1), an adjusting plate (3.4.2), a leveling component (3.4.3), a positioning flange (3.4.4), and a sensing component (3.4.5); the mounting base (3.4.1) is fixedly connected to the sorting frame (3.1), and the adjusting plate (3.4.2) is mounted on the mounting base (3.4.1) via the leveling component (3.4.3); the positioning method The flange (3.4.4) is installed on the adjusting plate (3.4.2); the connecting plate (3.2.2.3) is provided with a positioning pin (3.2.2.3.1), which is used to cooperate with the positioning flange (3.4.4) to achieve precise positioning of the quick-change gripper (3.2.2) on the adjusting plate (3.4.2); the sensing component (3.4.5) is installed on the adjusting plate (3.4.2) to detect whether the quick-change gripper (3.2.2) is accurately placed on or moved away from the adjusting plate (3.4.2).

7. The automatic tray-loading and sorting equipment for multi-variety egg tarts and egg tart crusts according to claim 1, characterized in that, It also includes a high-speed tray removal machine (4), which is connected to the material receiving end of the blister tray and product conveyor line (2) and is used to separate the stacked blister trays (7) one by one and place them on the product conveyor (2.1); The high-speed plate dismantling machine (4) includes a plate dismantling frame (4.1), an adjustment assembly (4.2), and four plate dismantling components (4.3). Each plate dismantling component (4.3) includes a plate dismantling bracket (4.3.1), a plate dismantling drive mechanism (4.3.2), an inlet pressure plate (4.3.3), and a cam (4.3.4) with a spiral groove, all mounted on the plate dismantling bracket (4.3.1). The inlet pressure plate (4.3.3) is fixed to the upper end of the cam (4.3.4) with an adjustable circumferential angle. The inlet pressure plate (4.3.3) has an opening... The opening (4.3.3.1) has a horizontal support portion (4.3.3.2) on one side and a pressing portion (4.3.3.3) on the other side that is higher than the horizontal support portion (4.3.3.2). The height difference between the pressing portion (4.3.3.3) and the horizontal support portion (4.3.3.2) is not greater than the gap between the stacked blister trays. The tray disassembly drive mechanism (4.3.2) is connected to the cam (4.3.4) to drive the cam (4.3.4) and the inlet pressure plate (4.3.3) to rotate synchronously. The four dismantling components (4.3) are mounted on the dismantling frame (4.1) via an adjustment component (4.2) and are arranged in a rectangular shape along the horizontal direction; the adjustment component (4.2) can drive the dismantling components (4.3) to move in order to adjust the spacing between each dismantling component (4.3).

8. The automatic tray-loading and sorting equipment for multi-variety egg tarts and egg tart crusts according to claim 7, characterized in that, The disassembly assembly (4.3) also includes a flange seat (4.3.5); the inlet pressure plate (4.3.3) has an elongated mounting hole (4.3.3.4) extending circumferentially; the inlet pressure plate (4.3.3) is locked and fixed to the flange seat (4.3.5) and the cam (4.3.4) by fasteners passing through the elongated mounting hole (4.3.3.4).

9. The automatic tray-loading and sorting equipment for multi-variety egg tarts and egg tart crusts according to claim 1, characterized in that, The blister pack and product conveyor line (2) also includes an entrance error-proof detection component (2.4); the entrance error-proof detection component (2.4) is located at the material receiving end of the product conveyor (2.1); the entrance error-proof detection component (2.4) includes a camera (2.4.2) and a camera bracket (2.4.1); the camera bracket (2.4.1) is mounted on the product conveyor (2.1), and the camera (2.4.2) is mounted on the camera bracket (2.4.1) for acquiring images of the blister pack (7).

10. The automatic tray-loading and sorting equipment for multi-variety egg tarts and egg tart crusts according to claim 1, characterized in that, The blister pack and product conveyor line (2) also includes a transition conveyor (2.5), a defective product visual inspection component (2.6), and a defective product rejection component (2.7); the transition conveyor (2.5) is located at the outlet of the product conveyor (2.1) and is used to receive and convey the blister pack (7) from the product conveyor (2.1); the defective product visual inspection component (2.6) and the defective product rejection component (2.7) are sequentially installed on the transition conveyor (2.5) along the conveying direction; The non-conforming product visual inspection component (2.6) includes an inspection bracket (2.6.1), an inspection camera (2.6.2), an inspection blocking cylinder (2.6.5), and an inspection blocking component (2.6.4). The inspection bracket (2.6.1) is mounted on the transition conveyor (2.5), and the inspection camera (2.6.2) is mounted on the inspection bracket (2.6.1) for acquiring images of the product in the blister pack (7). The inspection blocking cylinder (2.6.5) is mounted on the inspection bracket (2.6.1) and is used to drive the inspection blocking component (2.6.4) to block the blister pack (7) when the inspection camera (2.6.2) acquires images. The non-conforming product rejection assembly (2.7) includes a rejection bracket (2.7.1), a rejection drive cylinder (2.7.2), a toggle plate (2.7.3), a rejection blocking cylinder (2.7.6), and a rejection blocking component (2.7.4). The rejection bracket (2.7.1) is mounted on the transition conveyor (2.5), and the rejection blocking cylinder (2.7.6) is mounted on the rejection bracket (2.7.1) and is used to drive the rejection blocking component (2.7.4) to block the blister tray (7). The rejection drive cylinder (2.7.2) is mounted on the rejection bracket (2.7.1) and is used to drive the toggle plate (2.7.3) to move, so that the blister tray (7) blocked by the rejection blocking component (2.7.4) is removed from the transition conveyor (2.5).

Images