An egg tray unloading device for egg sorting

Abstract

The utility model relates to egg sorting equipment technical field provides an egg tray unloading device for egg sorting, including support column, one side of support column is fixedly connected with two parallelly arranged tracks along vertical direction, the track is matched and is provided with first sliding block, fixedly connected with horizontal bearing plate on first sliding block, the top of support column is fixedly connected with horizontal top plate, the utility model provides an egg tray unloading device for egg sorting, through setting lift structure and transverse moving mechanism, can flexible adjustment position, adapt the transverse dislocation layout between sorting line and the stacking area, need not frequent adjustment equipment position, operation is more convenient, through design mechanical petal formula gripper, realized the automatic capture of egg tray, significantly reduces manual intervention, improves production efficiency greatly.

Description

Technical Field

[0001] This utility model relates to the technical field of egg sorting equipment, and in particular to an egg tray unloading device for egg sorting. Background Technology

[0002] After sorting, eggs need to be carried on pallets into the subsequent packaging and storage stages. The mechanical petal gripper is the core component of the egg pallet unloading device, and its performance directly determines the unloading efficiency and the integrity of the eggs and pallets.

[0003] Existing mechanical flap grippers and matching unloading equipment for egg tray gripping have the following drawbacks: Existing flap grippers largely rely on manual positioning, requiring frequent manual adjustments to the gripper or equipment position, resulting in low efficiency and large positioning errors; traditional unloading devices only have single-axis lifting capabilities, making them unsuitable for the commonly found lateral misalignment layouts in sorting lines and palletizing areas; and the gripping success rate is low. When egg trays are placed in inconsistent orientations, the angle cannot be adjusted synchronously, easily leading to gripping misalignment, causing trays to slip or eggs to collide and break. To address the aforementioned issues, there is an urgent need to design a multi-degree-of-freedom, highly adaptable, and non-destructive automated feeding device to achieve efficient connection between the sorting line and the palletizing area. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an egg tray unloading device for egg sorting, which solves the problems mentioned in the background art.

[0005] The technical solution of this utility model is as follows: An egg tray unloading device for egg sorting includes a support column, two parallel tracks are fixedly connected to one side of the support column in a vertical direction, a first sliding block is provided on the track, and a horizontal bearing plate is fixedly connected to the first sliding block; A horizontal top plate is fixedly connected to the top of the support column, and a first drive unit for driving the bearing plate to move up and down along the track is fixedly connected to the top plate. A lifting structure is provided between the first drive unit and the bearing plate. A horizontal frame is fixedly connected to the support plate, and a transverse moving mechanism is provided inside the frame. A second sliding block is connected to the transverse moving mechanism. The bottom end of the second sliding block is fixedly connected to a third driving unit for driving angle adjustment. The output end of the third driving unit is fixedly connected to a mounting base. The bottom end of the mounting base is fixedly connected to a mechanical petal gripper arranged in a rectangle.

[0006] Furthermore, the lifting structure includes a sleeve fixed on the bearing plate and arranged in a vertical direction, and a spiral shaft connected to the output end of the first drive unit. The spiral shaft is threadedly engaged with the sleeve. When the first drive unit drives the spiral shaft to rotate, it drives the sleeve and the bearing plate to move up and down along the track.

[0007] Furthermore, the lateral movement mechanism includes a lateral track fixed inside the frame along its length, a second drive unit and a reduction assembly disposed at one end of the frame, a first transmission wheel fixed at the output end of the reduction assembly, and a second transmission wheel disposed at the other end of the frame; the first transmission wheel and the second transmission wheel are connected by a belt drive, the belt passes through the second sliding block and is fixed to the second sliding block, when the second drive unit drives the first transmission wheel to rotate via the reduction assembly, the belt drives the second sliding block to move along the lateral track.

[0008] Furthermore, the mechanical flap gripper includes an inner cylinder fixedly connected to the bottom end of the mounting plate, the inner cylinder being sleeved inside the outer cylinder, an upper support member fixedly connected to the upper end of the inner cylinder, and a lower support member fixedly connected to the lower end of the outer cylinder. A first spring is provided between the upper support member and the lower support member, sleeved on the inner cylinder. A gripping assembly is provided at the bottom end of the inner cylinder. The inner cylinder can slide downward along the inner side wall of the outer cylinder. When the gripping assembly extends out of the lower end of the outer cylinder and passes through the arched part of the egg tray, the gripping assembly can be opened to provide longitudinal support for the egg tray.

[0009] Furthermore, the gripping assembly includes a piston, a hinge plate, and two petal-shaped grippers. The piston is positioned at the upper end of the inner cylinder, and a thin rod is fixedly connected to the bottom end of the piston. A connecting ring is fixedly connected to the lower part of the inner wall of the inner cylinder. A second spring is provided between the connecting ring and the piston. The upper end of the second spring abuts against the lower end of the piston, and the lower end of the second spring abuts against the upper end of the connecting ring. The thin rod passes through the central hole of the second spring, and its lower end is fixedly connected to the hinge plate. The upper ends of the two petal-shaped grippers are hinged to the bottom end of the hinge plate through hinge members, and the two ends of the petal-shaped grippers are connected to the bottom end of the inner cylinder through hinge strips.

[0010] Furthermore, the outer wall of the inner cylinder is provided with a limiting flange, and the inner wall of the outer cylinder is provided with a limiting groove at a corresponding position. The limiting flange and the limiting groove cooperate to form an axial movement constraint.

[0011] Furthermore, the grasping component includes a cone-shaped block and a balloon. The balloon is glued to the bottom of the inner cylinder, and an integrally formed snap-fit ​​tube is fixedly connected to the upper end of the cone-shaped block. The snap-fit ​​tube snaps onto the inner cylinder, and the balloon is located inside the snap-fit ​​tube. The bottom end of the snap-fit ​​tube is provided with symmetrical through holes.

[0012] Furthermore, when the conical block is inserted into the arched portion of the egg tray, the balloon inflates and is squeezed out from the through hole at the bottom of the snap-fit ​​tube, and is located on the lower side wall of the arched portion.

[0013] Compared with the prior art, the beneficial effects of the technical solution provided by this utility model are as follows: by setting up a lifting structure and a lateral moving mechanism, the position can be flexibly adjusted to adapt to the lateral staggered layout between the sorting line and the palletizing area, without the need for frequent adjustment of the equipment position, making operation more convenient; by designing a mechanical petal gripper, the automatic gripping of egg trays is realized, significantly reducing manual intervention and greatly improving production efficiency. Attached Figure Description

[0014] Figure 1 A schematic diagram of an egg tray unloading device for egg sorting; Figure 2 This is a schematic diagram of the lateral movement mechanism; Figure 3 This is a schematic diagram of the overall structure of the mechanical petal gripper in Example 1; Figure 4 This is a cross-sectional view of Example 1; Figure 5 This is a schematic diagram of the overall structure of the mechanical petal gripper in Example 2; Figure 6 This is a cross-sectional view of Example 2; In the diagram: 1. Support column, 2. Track, 3. First sliding block, 4. Bearing plate, 5. Top plate, 6. First drive unit, 7. Screw shaft, 8. Frame, 9. Lateral movement mechanism, 91. Lateral track, 92. Second sliding block, 93. Second drive unit, 94. Reduction assembly, 95. First transmission wheel, 96. Second transmission wheel, 97. Belt, 10. Third drive unit, 11. Mounting base, 12. Mechanical flap gripper Hand, 1201, Outer cylinder, 12011, Guide groove, 1202, Inner cylinder, 1203, Pebble gripper, 1204, Lower support, 1205, First spring, 1206, Upper support, 1207, Piston, 1208, Second spring, 1209, Hinge plate, 1210, Hinge, 1211, Conical block, 1212, Balloon, 1213, Connecting ring, 1214, Thin rod, 1215, Hinge strip. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0016] like Figure 1-6 As shown, an egg tray unloading device for egg sorting includes a support column 1. Two parallel tracks 2 are fixedly connected to one side of the support column 1 in a vertical direction. A first sliding block 3 is provided on the track 2, and a horizontal bearing plate 4 is fixedly connected to the first sliding block 3. A horizontal top plate 5 is fixedly connected to the top of the support column 1. A first driving unit 6 for driving the bearing plate 4 to move up and down along the track 2 is fixedly connected to the top plate 5. A lifting structure is provided between the first driving unit 6 and the bearing plate 4.

[0017] A horizontal frame 8 is fixedly connected to the bearing plate 4. A transverse moving mechanism 9 is provided inside the frame 8. A second sliding block 92 is connected to the transverse moving mechanism. The bottom end of the second sliding block 92 is fixedly connected to a third driving unit 10 for driving angle adjustment. The output end of the third driving unit 10 is fixedly connected to a mounting base 11. The bottom end of the mounting base 11 is fixedly connected to a mechanical petal gripper 12 arranged in a rectangle.

[0018] The support column 1 is a vertical column structure, fixedly connected to the upper end of the base. The track 2 consists of two parallel long strip guide rails with a dovetail groove cross-section. The first sliding block 3 has a cavity inside that matches the shape of the track 2. The first drive unit 6 and the third drive unit 10 are stepper motors, which can precisely control the speed and angle to achieve precise adjustment of lifting height and horizontal rotation. The first drive unit 6 provides power, which is transmitted through the lifting structure to convert the rotational power into the vertical linear movement of the bearing plate 4 along the track 2, thereby achieving height adjustment. The third drive unit 10 is fixed to the bottom end of the second sliding block 92. The output shaft is vertically connected to the mounting base 11; when the output shaft of the third drive unit 10 rotates, the mounting base 11 rotates, adjusting the orientation of the egg tray; the arrangement of multiple mechanical petal grippers 12 is consistent with the arrangement of reinforcing ribs on common egg trays on the market, arranged in a rectangle; by setting up a lifting structure and a lateral moving mechanism 9, the position can be flexibly adjusted to adapt to the lateral staggered layout between the sorting line and the palletizing area, eliminating the need for frequent adjustments to the equipment position and making operation more convenient; by designing the mechanical petal grippers 12, automatic gripping of egg trays is realized, significantly reducing manual intervention and greatly improving production efficiency.

[0019] like Figure 1 As shown, the lifting structure includes a sleeve fixed on the bearing plate 4 and arranged in the vertical direction, and a spiral shaft 7 connected to the output end of the first drive unit 6. The spiral shaft 7 is threadedly engaged with the sleeve. When the first drive unit 6 drives the spiral shaft 7 to rotate, it drives the sleeve and the bearing plate 4 to move up and down along the track 2.

[0020] Specifically, the sleeve is a vertical tube with precision internal threads (matching the external threads of the screw shaft 7). Both ends of the tube are flat, and one end is fixedly connected to the bearing plate 4, maintaining a vertical posture parallel to the track 2. One end of the screw shaft 7 is connected to the output end of the first drive unit 6 through a coupling, and the other end is inserted into the internal threads of the sleeve and rotatably connected to the bearing seat at the upper end of the base. When the first drive unit 6 is started, its output end drives the spiral shaft 7 to rotate around its own axis. Since the sleeve is connected to the track 2 through the bearing plate 4 and the first sliding block 3, it is restricted to only move in the vertical direction (cannot rotate with the spiral shaft). The external thread of the spiral shaft 7 and the internal thread of the sleeve rotate relative to each other. The force between the thread teeth converts the rotational motion of the spiral shaft into the linear motion of the sleeve. If the screw shaft 7 rotates in the forward direction, the sleeve will drive the bearing plate 4 to rise vertically along the track 2 under the action of the thread thrust; if the screw shaft 7 rotates in the reverse direction, the sleeve will drive the bearing plate 4 to fall vertically along the track 2.

[0021] like Figure 2 As shown, the lateral movement mechanism 9 includes a lateral track 91 fixed inside the frame 8 along its length, a second drive unit 93 and a reduction assembly 94 disposed at one end of the frame 8, a first transmission wheel 95 fixed at the output end of the reduction assembly 94, and a second transmission wheel 96 disposed at the other end of the frame 8; the first transmission wheel 95 and the second transmission wheel 96 are connected by a belt 97, which passes through the second sliding block 92 and is fixed to the second sliding block 92. When the second drive unit 93 drives the first transmission wheel 95 to rotate via the reduction assembly 94, the belt 97 drives the second sliding block 92 to move along the lateral track 91.

[0022] Specifically, the transverse track 91 is fixed to the bottom or side of the frame 8, parallel to the length of the frame, and serves as the motion reference for the second sliding block 92; the second drive unit 93 is a cylindrical or square motor body, and its output shaft is directly connected to the reduction assembly 94 to provide the initial power for transverse movement; the first transmission wheel 95 is fixed on the output shaft of the reduction assembly 94 (one end of the frame 8); the second transmission wheel 96 is fixed to the other end of the frame 8 through a bearing seat, maintaining the same height as the first transmission wheel 95 and having a parallel axis, ensuring that the belt 97 is tensioned and horizontally transmitted; the bottom of the second sliding block 92 is provided with a guide groove that cooperates with the transverse track 91, and the middle is provided with a belt through hole, which is fixed to the belt 97 by bolts, and the bottom is used to install the third drive unit 10; The second drive unit 93 starts and outputs high-speed rotational power. After being reduced in speed and torque increased by the reduction assembly 94, it drives the first transmission wheel 95 (driving wheel) to rotate. The first transmission wheel 95 drives the belt 97 to move through tooth meshing. The belt drives the second transmission wheel 96 (driven wheel) to rotate synchronously, forming a closed-loop transmission. Since the belt 97 is rigidly fixed to the second sliding block 92, and the second sliding block 92 is restricted by the transverse track 91 to move only along the length of the track, the linear motion segment of the belt drives the second sliding block 92 to move horizontally along the transverse track 91. By controlling the rotation direction (forward / reverse) and angle of the second drive unit 93, the movement direction (left / right) and distance of the second sliding block 92 can be precisely controlled, realizing the lateral position adjustment of the gripping component. Example 1

[0023] See Figure 3-4 A flap-type mechanical gripper for grasping egg trays includes an inner cylinder 1202 fixedly connected to the bottom of a mounting plate, the inner cylinder 1202 being sleeved inside an outer cylinder 1201. An upper support member 1206 is fixedly connected to the upper end of the inner cylinder 1202, and a lower support member 1204 is fixedly connected to the lower end of the outer cylinder 1201. A first spring 1205, sleeved on the inner cylinder 1202, is disposed between the upper support member 1206 and the lower support member 1204. A gripping assembly is disposed at the bottom end of the inner cylinder 1202. A connecting ring 1213 (a ring-shaped metal part with an outer diameter consistent with the inner diameter of the inner cylinder 1202, fixed to the inner wall of the inner cylinder 1202 by welding, and with its upper surface kept horizontal) is fixed to the bottom end of the outer cylinder 1202 relative to the lower end of the second spring 1208. The piston 1207 is located at the upper end of the inner cylinder 1202. When the lower end of the inner cylinder 1202 moves to the lower end of the outer cylinder 1201, the gripping assembly extends out of the outer cylinder 1201.

[0024] The mounting plate is rectangular flat, with its top for fixed connection to the drive device and its bottom for fixed connection to the top of the inner cylinder 1202. The inner cylinder 1202 is a cylindrical hollow cylinder with openings at both ends. Its outer diameter is smaller than the inner diameter of the outer cylinder 1201, ensuring that the inner cylinder 1202 can slide smoothly along the axial direction inside the outer cylinder 1201 without significant radial swaying during the sliding process. The outer cylinder 1201 has the same shape as the inner cylinder 1202, but its length is shorter than that of the inner cylinder 1202, ensuring that the inner cylinder 1202 can drive the gripping component to extend out of the outer cylinder 1201. The outer wall of the inner cylinder 1202 is provided with a limiting flange (the limiting flange is located in the lower middle part of the outer wall of the inner cylinder 1202), and the inner wall of the outer cylinder 1201 is provided with a limiting groove at a corresponding position. The limiting groove is opened in the upper part of the inner wall of the outer cylinder 1201 (that is, it extends downward from the position of the inner wall of the outer cylinder 1201 near the upper opening to the lower middle part of the inner wall of the outer cylinder 1201). The limiting flange and the limiting groove cooperate to form an axial movement constraint. The upper support member 1206 is fixedly connected to the upper end of the inner cylinder 1202 (which can be achieved by welding); the lower support member 1204 consists of two sections and is fixedly connected to the upper side wall of the outer cylinder 1201 respectively; in this embodiment, the upper support member 1206 and the lower support member 1204 are connecting rods, with the upper support member 1206 fixedly connected to the upper end of the inner cylinder 1202 and the lower support member 1204 fixedly connected to the upper end of the outer cylinder 1201. The first spring 1205 is made of spring steel, and its inner diameter is larger than the outer diameter of the inner cylinder 1202. It is sleeved on the outside of the inner cylinder 1202, and the upper and lower ends of the first spring 1205 abut against the lower surface of the upper support member 1206 and the upper surface of the lower support member 1204 respectively (without fixed connection, the elastic force is transmitted only through contact). During operation, the mounting plate descends. When the lower end of the outer cylinder 1201 touches the upper side of the arched part of the egg tray, the inner cylinder 1202 retracts into the outer cylinder 1201. At this time, the distance between the lower support 1204 and the upper support 1206 gradually shortens, gradually approaches the upper support 1206 and compresses the first spring 1205. The first spring 1205 generates an upward elastic reaction force. At the same time, the inner cylinder 1202 drives the gripping component to move downward synchronously, so that the gripping component gradually approaches and contacts the position to be gripped on the egg tray. As the outer cylinder 1201 continues to move upward, the compression of the first spring 1205 increases, and the elastic reaction force is transmitted to the outer cylinder 1201 through the lower support 1204. The pressure of the outer cylinder 1201 on the egg tray increases, ensuring stable support of the outer cylinder 1201. At the same time, the gripping component penetrates into the egg tray, makes close contact, and completes the gripping action. The mounting plate rises, and the gripping component drives the egg tray to rise synchronously, realizing the lifting of the egg tray. When it is time to grab the next egg tray, the drive unit moves the mounting plate down, the outer cylinder 1201 contacts the support structure at the target position again and stops moving down, the outer cylinder 1201 moves up relative to the inner cylinder 1202, the gripping component releases the egg tray, and the release is completed; then the mounting plate rises, the outer cylinder 1201 resets under the action of the first spring 1205, and waits for the next gripping cycle.

[0025] like Figure 3As shown, the gripping assembly includes a piston 1207, a hinge plate 1209, and two flap grippers 1203. The piston 1207 is located at the upper end of the inner cylinder 1202. A thin rod 1214 is fixedly connected to the center of the bottom end of the piston 1207. A connecting ring 1213 is fixedly connected to the bottom end of the inner cylinder 1202. A second spring 1208 is provided between the connecting ring 1213 and the piston 1207, and the upper end of the second spring 1208 abuts against the lower end of the piston 1207. The lower end of the spring 1208 abuts against the upper end of the connecting ring 1213; the thin rod 1214 passes through the central hole of the second spring 1208 (the axis of the thin rod 1214 coincides with the axis of the second spring 1208), the lower end of the thin rod 1214 is fixedly connected to the upper center of the hinge plate 1209, the upper ends of the two petal grippers 1203 are hinged to the bottom end of the hinge plate through the hinge 1210, and the two ends of the petal grippers 1203 are connected to the bottom end of the inner cylinder 1202 through the hinge strip 1215.

[0026] Specifically, the mounting plate is fixedly connected to the inner cylinder 1202, forming a closed space inside the inner cylinder 1202 as an air chamber; the piston 1207 is cylindrical in shape, and its outer diameter is adapted to the inner diameter of the inner cylinder 1202, ensuring that the piston 1207 can slide smoothly along the axial direction inside the inner cylinder 1202, and the piston 1207 and the inner cylinder 1202 are sealed together; the upper and lower end faces of the piston 1207 are both flat planes, and the center of the bottom end is fixedly connected to the thin rod 1214; the upper and lower ends of the second spring 1208 respectively abut against the piston 1207 and the connecting ring 1213; the upper end of the piston 1207 is an air passage, and the upper end of the air passage extends to the top of the mounting plate; the mounting plate is provided with an air inlet corresponding to the position of the inner cylinder 1202, and the air inlet is connected to an external inflation device through an air pipe to control the extension and retraction of the piston 1207; The petal-shaped gripper 1203 is symmetrically petal-shaped and conical in shape. The hinge 1210 is L-shaped with two symmetrical lugs at the lower end. The distance between the lugs matches the upper lugs of the two petal-shaped grippers 1203. The two are hinged by a pin passing through the pin hole of the petal-shaped gripper 1203 and the hinge 1210. When inserted, the petal-shaped gripper 1203 moves downward along the axis, maintaining its retracted posture. The trajectory is a vertically downward linear motion (constrained by the pin sliding down along the vertical groove). When opened, the upper end of the petal-shaped gripper 1203 moves upward with the hinge plate 1209, and the lower end rotates outward around the hinge 1210, forming an arc-shaped trajectory of "retracting and opening". The flap gripper 1203 has two sets of rigid rod-shaped hinge bars 1215 at each end. Each set includes a first hinge bar and a second hinge bar, both made of spring steel to ensure support strength and rotational flexibility. One end of the first hinge bar is horizontally fixed to the inner wall of the bottom end of the inner cylinder 1202 by a pin (a connecting seat is preset at the corresponding position of the bottom end of the inner cylinder to ensure horizontal stability), and the other end is machined with a hinge hole for connecting with the second hinge bar. One end of the second hinge bar is vertically fixed to the upper end of the flap gripper 1203 by a pin (a vertical connecting ear plate is preset at the upper end of the flap gripper 1203, perpendicular to the side wall of the flap gripper 1203), and the other end is also machined with a hinge hole. The free ends of the first hinge bar and the free ends of the second hinge bar are connected by a pin through the hinge hole. Both ends of the pin are fixed with snap rings to ensure that the two sets of hinge bars can rotate flexibly around the pin without jamming or loosening. In the initial state, both the first spring 1205 and the second spring 1208 are in a natural extension and contraction state; the limiting flange of the inner cylinder 1202 is located at the uppermost end of the limiting groove of the outer cylinder 1201; the piston 1207 is located at the upper part of the inner cylinder 1202; the two ends of the second spring 1208 respectively abut against the lower end of the piston 1207 and the upper end of the connecting ring 1213 on the inner wall of the inner cylinder 1202; the thin rod 1214 passes through the central hole of the second spring 1208 and is fixedly connected to the hinge plate 1209 at its lower end; the two petal grippers 1203 are located outside the inner cylinder 1202 and inside the outer cylinder 1201 (or the lower ends of the two petal grippers 1203 slightly protrude from the lower end of the outer cylinder 1201), and the lower ends of the two petal grippers 1203 are in a closed state; The drive unit (not shown in the figure) lowers the mounting plate, and the lower end of the outer cylinder 1201 first abuts against the upper side of the arched part of the egg tray. The drive unit continues to lower the mounting plate, and the inner cylinder 1202 moves downward within the outer cylinder 1201 under the pressure of the drive unit. The limiting flange slides along the limiting groove, and the connecting ring 1213 moves downward synchronously with the inner cylinder 1202. At the same time, the external inflation device injects a certain amount of air pressure into the upper air chamber of the inner cylinder 1202, pushing the piston 1207 downward. This prevents the piston 1207 from shifting upward relative to the inner cylinder 1202 due to the elastic support of the second spring 1208, thereby ensuring that the thin rod 1214 can stably carry... The movable hinge plate 1209, hinge member 1210, and two petal grippers 1203 move downward relative to the outer cylinder 1201. When the limiting flange moves to the lower end of the limiting groove, the petal grippers 1203 fully extend out of the outer cylinder 1201 and completely pass through the arched part of the egg tray. During this process, the petal grippers 1203 move downward, causing the second hinge bar to move downward synchronously. The second hinge bar rotates around the hinge point with the first hinge bar, while the first hinge bar rotates around the fixed point at the bottom of the inner cylinder 1202. The two sets of hinge bars gradually unfold from the folded state, coordinating to constrain the movement trajectory of the petal grippers 1203, so that the lower end of the petal grippers 1203 gradually opens outward.

[0027] The external inflation device continues to inflate, and the piston 1207 moves further down, pushing the flap gripper 1203 to open continuously through the thin rod 1214 and the hinge plate 1209 until the first hinge bar and the second hinge bar are extended to their maximum angle. The lower end of the flap gripper 1203 fits against the lower side wall of the arched part of the egg tray, forming a stable support.

[0028] When the egg tray is released, the inner cylinder 1202 returns to its original position, the hinge plate 1209 drives the petal gripper 1203 to move upward, the second hinge bar moves upward with the petal gripper 1203 and rotates in the opposite direction around the hinge point, the first hinge bar rotates in the opposite direction synchronously, the two sets of hinge bars are refolded, the lower end of the petal gripper 1203 closes and exits from the slot of the egg tray. Example 2

[0029] This embodiment is another implementation based on embodiment 1. The difference between this embodiment and embodiment 1 is that the gripping component is a cone-shaped block structure with a built-in balloon.

[0030] In this embodiment, as Figure 5 and Figure 6 As shown, the gripping component includes a cone-shaped block 1211 and a balloon 1212. The balloon 1212 is glued to the bottom end of the inner cylinder 1202, and an integrally formed snap-fit ​​tube is fixedly connected to the upper end of the cone-shaped block 1211. The snap-fit ​​tube snaps onto the inner cylinder 1202, and the balloon 1212 is located inside the snap-fit ​​tube. The bottom end of the snap-fit ​​tube is provided with symmetrical through holes. When the cone-shaped block 1211 is inserted into the arched part of the egg tray, the balloon 1212 inflates and is squeezed out from the through holes at the bottom end of the snap-fit ​​tube, located on the lower side wall of the arched part. The balloon 1212 is made of elastic material.

[0031] Specifically, the diameter of the through-hole of the clip tube is smaller than the maximum diameter of the balloon 1212 in its uninflated state, ensuring that the balloon 1212 can completely retract into the clip tube when deflated, and can be squeezed out of the through-hole when inflated without easily falling off; the balloon 1212 is made of medical-grade silicone, which has good elasticity, wear resistance, and food safety; when uninflated, the balloon 1212 is flat or wrinkled and completely contained in the clip tube, and when inflated, it can expand outward from the through-hole to form a near-spherical or elliptical support structure; the open end of the balloon 1212 is sealed to the inner wall of the clip tube (by adhesive), ensuring no air leakage during inflation, while the air... Between the inner cylinder and the snap-fit ​​cylinder at the opening of the balloon 1212, the balloon is further compressed to prevent air leakage; the inner cylinder 1202 has an inflation channel inside, the upper end of which extends to the top of the mounting plate and connects to the external inflation device to control the inflation and deflation of the balloon 1212; in this embodiment, the upper support 1206 and the lower support 1204 are connecting rings, the upper support 1206 is fixedly connected to the upper end of the inner cylinder 1202, and the lower support 1204 is fixedly connected to the middle of the outer cylinder 1201; the upper and lower ends of the first spring 1205 are respectively fixedly connected to the upper support 1206 and the lower support 1204 as connecting rings; In the initial state, the first spring 1205 is in a naturally extended state, the inner cylinder 1202 extends the longest relative to the outer cylinder 1201; the balloon 1212 is in a deflated state (completely stored in the snap-fit ​​tube), and the tip of the cone block 1211 is facing down, ready to be inserted into the egg tray. During insertion and positioning, the drive device lowers the mounting plate, and the entire gripper moves downwards accordingly. The tip of the conical block 1211 aligns with the arch of the egg tray and gradually inserts into the egg tray. When the upper side wall of the conical block 1211 contacts the upper surface of the egg tray, the bottom end of the outer cylinder 1201 also contacts the peripheral support structure of the egg tray and stops moving downwards. The mounting plate continues to descend, and the inner cylinder 1202 moves downwards relative to the outer cylinder 1201 and compresses the first spring 1205, ensuring that the conical block 1211 is stably inserted into the egg tray to the preset depth. When the external inflation device is activated, gas enters the balloon 1212 through the air passage of the inner cylinder 1202. Due to the elastic material properties, the balloon 1212 is squeezed out from the through hole at the bottom of the snap-fit ​​cylinder, extends from the gap between the adjacent individual egg trays to the bottom of the egg tray, and fits tightly against the bottom of the egg tray. At this time, the upper part of the balloon 1212 fits against the upper surface of the egg tray (positioning), and the balloon 1212 forms a support (bearing weight) at the bottom of the egg tray, completing the grasping process. After the drive device moves the egg tray to the target position, it descends. The outer cylinder 1201 contacts the target support structure and stops moving downward. The inflation device stops supplying air and starts venting. The balloon 1212 contracts under its own elasticity and retracts from the through hole at the bottom of the snap-fit ​​cylinder into the snap-fit ​​cylinder. The drive device continues to drive the mounting plate to rise. The cone block 1211 exits from the slot of the egg tray, and the egg tray remains at the target position. All components reset under the action of the first spring 1205, waiting for the next grasping cycle.

[0032] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An egg tray unloading device for egg sorting, comprising a support column (1), characterized in that: Two parallel tracks (2) are fixedly connected to one side of the support column (1) in the vertical direction. A first sliding block (3) is provided on the track (2), and a horizontal bearing plate (4) is fixedly connected to the first sliding block (3). A horizontal top plate (5) is fixedly connected to the top of the support column (1). A first drive unit (6) for driving the bearing plate (4) to move up and down along the track (2) is fixedly connected to the top plate (5). A lifting structure is provided between the first drive unit (6) and the bearing plate (4). A horizontal frame (8) is fixedly connected to the bearing plate (4), and a transverse moving mechanism (9) is provided inside the frame (8). A second sliding block (92) is connected to the transverse moving mechanism. The bottom end of the second sliding block (92) is fixedly connected to a third drive unit (10) for driving angle adjustment. The output end of the third drive unit (10) is fixedly connected to a mounting base (11). The bottom end of the mounting base (11) is fixedly connected to a mechanical petal gripper (12) arranged in a rectangle.

2. The egg tray unloading device for egg sorting according to claim 1, characterized in that, The lifting structure includes a sleeve fixed on the bearing plate (4) and arranged in the vertical direction, and a spiral shaft (7) connected to the output end of the first drive unit (6). The spiral shaft (7) is threadedly engaged with the sleeve. When the first drive unit (6) drives the spiral shaft (7) to rotate, it drives the sleeve and the bearing plate (4) to move up and down along the track (2).

3. The egg tray unloading device for egg sorting according to claim 1, characterized in that: The lateral movement mechanism (9) includes a lateral track (91) fixed inside the frame (8) along its length, a second drive unit (93) and a deceleration assembly (94) located at one end of the frame (8), a first transmission wheel (95) fixed at the output end of the deceleration assembly (94), and a second transmission wheel (96) located at the other end of the frame (8). The first transmission wheel (95) and the second transmission wheel (96) are connected by a belt (97). The belt (97) passes through the second sliding block (92) and is fixed to the second sliding block (92). When the second drive unit (93) drives the first transmission wheel (95) to rotate via the deceleration assembly (94), the belt (97) drives the second sliding block (92) to move along the lateral track (91).

4. The egg tray unloading device for egg sorting according to claim 1, characterized in that: The mechanical flap gripper (12) includes an inner cylinder (1202) fixedly connected to the bottom of the mounting plate. The inner cylinder (1202) is sleeved inside the outer cylinder (1201). An upper support member (1206) is fixedly connected to the upper end of the inner cylinder (1202). A lower support member (1204) is fixedly connected to the lower end of the outer cylinder (1201). A first spring (1205) is provided between the upper support member (1206) and the lower support member (1204) and sleeved on the inner cylinder (1202). A gripping component is provided at the bottom end of the inner cylinder (1202). The inner cylinder (1202) can slide downward along the inner side wall of the outer cylinder (1201). When the gripping component extends out of the lower end of the outer cylinder (1201) and passes through the arch of the egg tray, the gripping component can be opened to provide longitudinal support for the egg tray.

5. The egg tray unloading device for egg sorting according to claim 4, characterized in that: The gripping assembly includes a piston (1207), a hinge plate (1209), and two flap grippers (1203). The piston (1207) is positioned at the upper end of the inner cylinder (1202). A thin rod (1214) is fixedly connected to the bottom end of the piston (1207). A connecting ring (12013) is fixedly connected to the lower part of the inner wall of the inner cylinder (1202). A second spring (1208) is provided between the connecting ring (12013) and the piston (1207). The upper end of the second spring (1208) is connected to the piston (1207). The lower ends of the second spring (1207) abut against each other, and the lower end of the second spring (1208) abuts against the upper end of the connecting ring (12013). The thin rod (1214) passes through the central hole of the second spring (1208) and its lower end is fixedly connected to the hinge plate (1209). The upper ends of the two petal grippers (1203) are hinged to the bottom end of the hinge plate (1209) through the hinge (12010). The two ends of the petal grippers (1203) are connected to the bottom end of the inner cylinder (1202) through the hinge strip (1215).

6. The egg tray unloading device for egg sorting according to claim 5, characterized in that: The outer wall of the inner cylinder (1202) is provided with a limiting flange, and the inner wall of the outer cylinder (1201) is provided with a limiting groove at a corresponding position. The limiting flange and the limiting groove cooperate to form an axial movement constraint.

7. The egg tray unloading device for egg sorting according to claim 4, characterized in that: The gripping component includes a cone-shaped block (1211) and a balloon (1212). The balloon (1212) is glued to the bottom end of the inner cylinder (1202). An integrally formed snap-fit ​​tube is fixedly connected to the upper end of the cone-shaped block (1211). The snap-fit ​​tube is snapped onto the inner cylinder (1202). The balloon (1212) is located inside the snap-fit ​​tube. The bottom end of the snap-fit ​​tube is provided with symmetrical through holes.

8. The egg tray unloading device for egg sorting according to claim 7, characterized in that: When the conical block (1211) is inserted into the arch of the egg tray, the balloon (1212) is inflated and squeezed out from the through hole at the bottom of the snap-fit ​​tube, and is located on the lower side wall of the arch.

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