An integrated egg sorting device

Abstract

The utility model relates to egg processing technical field provides an egg sorting integrated equipment, including egg sorting equipment, the feed side of egg sorting equipment is equipped with egg tray feeding device, and the discharge side is equipped with egg tray unloading device, the egg tray feeding device includes the frame, and sets up the lifting mechanism and the removal mechanism on the frame, the lifting mechanism is used for bearing the egg tray of stacking, the removal mechanism is used for removing the uppermost egg tray to the egg sorting equipment, the utility model discloses feeding device bears the stacking tray through the lifting mechanism and automatically lifts the alignment, and the transverse movement and the action of grabbing of cooperation removal mechanism, realize the continuous automatic feeding of egg tray, and the worker carrying intensity is greatly reduced, the unloading device adopts the cooperation of mechanical gripper and horizontal movement mechanism, can automatically grab the tray after sorting and removes, further reduces the manual operation link.

Description

Technical Field

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

[0002] In the field of large-scale egg processing, automated sorting equipment has been widely used to inspect and grade eggs based on their weight, quality, and integrity. However, existing egg sorting systems have significant shortcomings in overall integration, which restricts further improvements in sorting efficiency.

[0003] Currently, the feeding, sorting, and unloading processes in egg sorting production lines are typically completed using independent equipment. This decentralized layout requires large safety distances and material buffer areas between each piece of equipment, which not only occupies valuable production space but also increases the difficulty of connecting the equipment. In actual operation, independent equipment units often lack effective collaborative working mechanisms, requiring manual intervention for process connection and equipment coordination, which increases labor costs and affects production efficiency.

[0004] Especially in terms of equipment function coordination, the loading process of traditional sorting lines largely relies on manual labor to disassemble stacked egg trays one by one and place them at the inlet of the sorting equipment. Similarly, the unloading process requires manual intervention to transfer the sorted trays to the palletizing area. This manual intervention not only increases labor intensity but also fails to fully utilize the performance advantages of high-speed sorting equipment due to operational efficiency limitations. Furthermore, the dispersed equipment configuration also leads to problems such as complex control systems and difficult maintenance.

[0005] Therefore, there is an urgent need in this field for an integrated device that can organically integrate the functions of feeding, sorting and unloading, in order to solve the systemic problems of poor equipment coordination, low space utilization and excessive manual intervention in the existing technology. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides an integrated egg sorting device, which solves the problems mentioned in the background section.

[0007] The technical solution of this utility model is as follows: An integrated egg sorting device includes an egg sorting device, wherein the egg sorting device is provided with an egg tray feeding device on the inlet side and an egg tray unloading device on the outlet side. The egg tray loading device includes a frame, and a lifting mechanism and a conveying mechanism installed on the frame. The lifting mechanism is used to carry stacked egg trays, and the conveying mechanism is used to transfer the top egg tray to the egg sorting equipment. The egg tray unloading device includes a support column, a lifting structure and a lateral moving mechanism mounted on the support column. The lateral moving mechanism is equipped with a mechanical gripper for grabbing egg trays on the egg sorting equipment and removing them.

[0008] Furthermore, the transfer mechanism includes a traversing mechanism and a gripper assembly. The traversing mechanism is mounted on the frame, and the gripper assembly is connected to the traversing mechanism. The traversing mechanism can drive the gripper assembly to move back and forth between the lifting mechanism and the egg sorting equipment above the lifting mechanism.

[0009] Furthermore, the lifting mechanism includes a guide rod, a support plate, and a lifting drive component. The guide rod is installed at the four corners of the frame, the support plate is provided with a guide sleeve that cooperates with the guide rod, the lifting drive component is installed on the frame, and the support plate is connected to the output end of the lifting drive component.

[0010] Furthermore, the transverse movement mechanism includes a sliding seat, a transverse guide rail, and a transverse movement drive. The sliding seat is mounted on the upper end of the frame, and a slider that cooperates with the transverse guide rail is provided on the sliding seat. The sliding seat is connected to the output end of the transverse movement drive.

[0011] Furthermore, the gripper assembly includes a gripper cylinder and two grippers. The output end of the gripper cylinder is hinged to the two grippers. The gripper cylinder can drive the grippers that penetrate the fixed plate to clamp or release the egg tray.

[0012] 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, wherein the spiral shaft is threaded into the sleeve.

[0013] Furthermore, the lateral movement mechanism includes a lateral track, a second drive unit, a reduction assembly, a first transmission wheel, a second transmission wheel, and a belt. The belt 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.

[0014] Furthermore, the mechanical gripper includes an inner cylinder and an outer cylinder, with the inner cylinder sleeved inside the outer cylinder, and a gripping component provided at the bottom end of the inner cylinder.

[0015] Furthermore, the gripping assembly includes a piston, a hinge plate, and two petal-shaped grippers. The piston is located at the upper end of the inner cylinder, and a thin rod is fixedly connected to the bottom end of the piston. The lower end of the thin rod 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.

[0016] 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.

[0017] Compared with the prior art, the beneficial effects of the technical solution provided by this utility model are as follows: By setting the feeding device on the feeding side of the sorting equipment and the unloading device on the discharging side in an integrated layout, the entire process of feeding, sorting and unloading is automated, solving the problem of manual intervention in material transfer required by traditional independent equipment; the feeding device carries stacked pallets through a lifting mechanism and automatically lifts and aligns them, and in conjunction with the lateral movement and gripping action of the transfer mechanism, realizes continuous automated feeding of egg pallets, greatly reducing the labor intensity of workers; the unloading device adopts a mechanical gripper and a lateral movement mechanism to automatically grab the sorted pallets and move them out, further reducing manual operation links. Attached Figure Description

[0018] Figure 1 A schematic diagram of an integrated egg sorting device; Figure 2 A schematic diagram of the egg tray feeding device; Figure 3 This is a structural diagram of the gripper assembly; Figure 4 This is a cross-sectional view of the gripper component; Figure 5 A schematic diagram of an egg tray unloading device for egg sorting; Figure 6 This is a schematic diagram of the lateral movement mechanism; Figure 7 This is a schematic diagram of the overall structure of the mechanical gripper in Example 1; Figure 8 This is a cross-sectional view of Example 1; Figure 9 This is a schematic diagram of the overall structure of the mechanical gripper in Example 2; Figure 10 This is a cross-sectional view of Example 2; In the diagram: 1. Egg sorting equipment; 2. Egg tray loading device; 3. Egg tray unloading device; 21. Frame; 22. Sliding seat; 23. Telescopic hydraulic cylinder; 24. Fixed plate; 25. Grip assembly; 2501. Grip cylinder; 2502. Grip; 27. Guide rod; 28. Pallet; 2801. Guide sleeve; 29. ​​Lifting drive unit; 210. Transverse guide rail; 211. Slider; 212. Transverse drive unit; 31. Support column; 32. Track; 33. First sliding block; 34. Bearing plate; 35. Top plate; 36. First drive unit; 37. Screw shaft; 38. Frame; 39. Transverse movement mechanism; 391. Transverse track; 392. Second... 393. Sliding block, 394. Second drive unit, 395. Reduction assembly, 396. First transmission wheel, 397. Second transmission wheel, 398. Belt, 319. Third drive unit, 310. Mounting base, 311. Mechanical gripper, 3121. Outer cylinder, 312101. Guide groove, 3122. Inner cylinder, 3123. Gripper, 3124. Lower support rod, 3125. First spring, 3126. Upper support rod, 3127. Piston, 3128. Second spring, 3129. Hinge plate, 31210. Hinge component, 31211. Conical block, 31212. Balloon, 31213. Connecting ring, 31214. Thin rod, 31215. Hinge strip. Detailed Implementation

[0019] 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.

[0020] As shown in Figures 1-10, an integrated egg sorting device includes an egg sorting device 1. The egg sorting device 1 has an egg tray feeding device 2 on its inlet side and an egg tray unloading device 3 on its outlet side. The egg tray feeding device 2 includes a frame 21, on which a lifting mechanism for carrying stacked egg trays and a conveying mechanism for transferring the top egg tray to the egg sorting device are provided. The transfer mechanism includes a traversing mechanism and a gripper assembly 25. The traversing mechanism is mounted on the frame 21, and the gripper assembly 25 is connected to the traversing mechanism. The traversing mechanism can drive the gripper assembly 25 to move back and forth between the lifting mechanism and the egg sorting equipment above the lifting mechanism.

[0021] Specifically, the egg tray feeding device 2 is installed on one side of the beginning of the conveyor belt of the egg sorting equipment 1. The frame 21 is a rectangular frame structure formed by bolting together four angle steels and multiple crossbeams. The lower part of the frame 21 is reserved for the installation space of the lifting mechanism, the upper crossbeam is used to fix the transverse movement mechanism, and the side is provided with reinforcing ribs to improve the overall rigidity. The height of the frame 21 is slightly higher than the feeding end of the egg sorting equipment to ensure a horizontal transition when the tray is moved. The stacked egg trays are neatly placed on the lifting mechanism, which raises the top tray to a preset gripping height. The lateral movement mechanism moves the gripper assembly 25 to directly above the top of the egg tray and grips it. After the gripper assembly 25 grips the egg tray, the lifting mechanism raises the egg tray to a safe height, and the lateral movement mechanism moves towards the egg sorting equipment until the egg tray reaches above the feeding end of the sorting equipment. The gripper assembly 25 then releases the egg tray and returns to the lifting mechanism, ready for the next gripping. After each egg tray transfer is completed, the lifting mechanism automatically rises one egg height, placing the new top egg tray in the gripping position. This process is repeated to achieve continuous automated feeding.

[0022] like Figure 2 As shown, the lifting mechanism includes a guide rod 27, a support plate 28, and a lifting drive component 29. The guide rod 27 is installed at the four corners of the frame 21. The support plate 28 is provided with a guide sleeve 2801 that cooperates with the guide rod 27. The lifting drive component 29 is installed on the frame 21. The support plate 28 is connected to the output end of the lifting drive component 29. The lifting drive component 29 can drive the support plate 28 to rise and fall.

[0023] Specifically, the tray 28 is made of high-strength plastic sheet; the lifting drive 29 is an electric push rod; the shape of the tray 28 matches the egg tray, and the edges can be slightly folded upwards to prevent the egg tray from slipping when placed; the tray 28 has through mounting holes at its four corners for mounting guide sleeves 2801; the tray 28 is horizontally set in the middle area inside the frame 21 to support stacked egg trays; the lifting drive 29 is vertically installed on one side of the frame 21, and its output end is connected to one side of the tray 28; the tray 28 is guided vertically through the sliding cooperation between the guide sleeve 2801 and the guide rod 27; when the lifting drive 29 extends or retracts, the tray 28 rises and falls smoothly along the guide rod 27 to avoid tilting or shaking.

[0024] like Figure 2As shown, the lateral movement mechanism includes a sliding seat 22, a transverse guide rail 210, and a lateral movement drive 212. The sliding seat 22 is mounted on the upper end of the frame 21, and a slider 211 that cooperates with the transverse guide rail 210 is provided on the sliding seat 22. The sliding seat 22 is connected to the output end of the lateral movement drive 212, and the lateral movement drive 212 can drive the sliding seat 22 to move in the horizontal direction. The end of the transverse guide rail 210 away from the frame 21 extends above the tray receiving area of ​​the egg sorting equipment 1.

[0025] Specifically, one end of the transverse guide rail 210 is fixed to the crossbeam on the upper part of the frame 21, and the other end extends away from the frame 21 until it is directly above the tray receiving area of ​​the egg sorting equipment 1, forming a horizontal transfer track that connects the lifting mechanism and the sorting equipment; the slider 211 is fixed to the bottom of the sliding seat 22 and embedded in the guide groove 312101 of the transverse guide rail 210, forming a sliding or rolling engagement with the transverse guide rail 210, and moving synchronously with the sliding seat 22; Driven by the transverse drive component 212, the sliding seat 22 stops at one end of the transverse guide rail 210 near the frame 21. At this time, the gripper assembly 25 under the sliding seat is located directly above the lifting mechanism, waiting to grab the egg tray. After the lifting mechanism adjusts the top tray to the grabbing height, the lateral drive 212 is activated, and its output end pushes or pulls the sliding seat 22 to move along the transverse guide rail 210 toward the lifting mechanism; through the cooperation of the slider 211 and the transverse guide rail 210, the sliding seat 22 moves smoothly to directly above the egg tray, and then stops to wait for grabbing. After the gripper assembly 25 grips the egg tray, the lateral drive 212 reverses its movement, causing the sliding seat 22 to move away from the frame 21 along the transverse guide rail 210. After the gripper assembly 25 releases the egg tray, the lateral drive 212 reverses its movement again, causing the sliding seat 22 to return to its initial position along the transverse guide rail 210, ready for the next transfer cycle.

[0026] like Figure 2 As shown, a telescopic hydraulic cylinder 23 is provided at the upper end of the sliding seat 22, and a fixed plate 24 is provided at the output end of the telescopic hydraulic cylinder 23. A gripper assembly 25 is provided on the fixed plate 24 around the telescopic hydraulic cylinder 23. The telescopic hydraulic cylinder 23 can drive the fixed plate 24 and the gripper assembly 25 to move up and down to adjust the relative height of the gripper assembly 25 and the egg tray.

[0027] Specifically, the gripper assembly 25 is fixed to the fixed plate 24, which is fixed to the output end of the telescopic hydraulic cylinder. The fixed plate 24 has a rectangular through hole, the width of which precisely matches the width of the gripper assembly 25 to ensure smooth passage. The length of the through hole is designed to be greater than the maximum stroke required for the gripper assembly 25 to be fully extended, providing sufficient space for the opening and closing of the gripper. The gripper assembly 25 passes through this through hole. To prevent the gripper assembly 25 from colliding with the upper sliding seat 22 when the fixed plate 24 drives the gripper assembly 25 to move up and down, a square hole 2201 is precisely opened at the corresponding through hole position of the sliding seat 22. The size and position of the square hole 2201 ensure that the gripper assembly 25 can always move freely during the entire lifting stroke of the fixed plate 24 and the gripper assembly 25, thereby completely avoiding any contact or collision with the sliding seat 22, ensuring the smoothness of the lifting action and the reliability of the device operation.

[0028] like Figure 3 and Figure 4 As shown, the gripper assembly 25 includes a gripper cylinder 2501 and two grippers 2502. The output end of the gripper cylinder 2501 is hinged to the two grippers 2502. The gripper cylinder 2501 can drive the grippers 2502 that penetrate the fixed plate 24 to clamp or release the egg tray. The grippers 2502 are provided with anti-slip pads 2503, and the ends of the grippers 2502 are fixedly connected with piercing nails 2504.

[0029] Specifically, the gripper cylinder 2501 is generally rectangular, and the output end of the gripper cylinder 2501 is provided with a hinge hole; the side of the gripper cylinder 2501 is provided with an air inlet 2506 (for connecting an air pipe), and the output end is driven to extend and retract synchronously (moving in opposite directions) by air pressure; the side of the gripper cylinder 2501 is provided with bolt holes to fix it to the fixing plate 24; in order not to hinder the opening stroke of the gripper 2502, the bottom end of the gripper cylinder 2501 is provided with a strip hole 2505; The gripper 2502 is hinged to the slotted hole at the end of the gripper cylinder. A crossbar is provided on the gripper, and the output end of the gripper cylinder is hinged to the crossbar. The lower end of the gripper 2502 passes through a through hole on the fixing plate 24 (the through hole is larger than the diameter of the gripper 2502, allowing the gripper 2502 to move freely when opening and closing). The gripping part is located below the fixing plate, corresponding to the edge of the egg tray. The anti-slip pad 2503 is fixed to the inner surface of the gripping part of the gripper 2502 by adhesive or bolts, and completely conforms to the side of the egg tray when in contact with it. The anti-slip pad 2503 is made of elastic and wear-resistant silicone, which has a certain degree of flexibility and friction, preventing scratches on the tray surface and enhancing gripping stability. The piercing nail 2504 is vertically fixed to the end of the gripping part of the gripper 2502 (near the edge of the tray), with the tip facing inward (in the direction of contact with the tray). The gripper cylinder 2501 is in the initial state, the two grippers 2502 are in the open state with a distance greater than the width of a single egg tray, and the anti-slip pad 2503 and the piercing nail 2504 are in the non-working position; the telescopic hydraulic cylinder 23 drives the fixing plate 24 and the gripper assembly 25 to descend, so that the two grippers are located on both sides of the edge of the egg tray, and the gripping part is aligned with the side of the tray. When the gripper cylinder 2501 is ventilated, its output end contracts in opposite directions, driving the gripper 2502 to rotate around the hinge point and close inward. First, the anti-slip pad 2503 contacts the side of the tray and initially fixes the tray through friction. As the gripper continues to close, the piercing nail 2504 pierces the edge of the tray, forming a mechanical lock. The dual action ensures that the egg tray is firmly clamped. When the egg tray is transferred to the receiving area of ​​the egg sorting equipment, the gripper cylinder 2501 is vented in reverse, and its output end extends, causing the gripper 2502 to open outward; the piercing nail 2504 is pulled out from the edge of the tray, the anti-slip pad 2503 is detached from the tray, and the tray is placed stably in the receiving area.

[0030] like Figure 5 As shown, the egg sorting tray unloading device includes a support column 31. Two parallel tracks 32 are fixedly connected to one side of the support column 31 in a vertical direction. A first sliding block 33 is provided on the track 32, and a horizontal bearing plate 34 is fixedly connected to the first sliding block 33. A horizontal top plate 35 is fixedly connected to the top of the support column 31. A first driving unit 36 ​​for driving the bearing plate 34 to move up and down along the track 32 is fixedly connected to the top plate 35. A lifting structure is provided between the first driving unit 36 ​​and the bearing plate 34.

[0031] A horizontal frame 38 is fixedly connected to the bearing plate 34. A transverse moving mechanism 39 is provided inside the frame 38. A second sliding block 392 is connected to the transverse moving mechanism. The bottom end of the second sliding block 392 is fixedly connected to a third driving unit 310 for driving angle adjustment. The output end of the third driving unit 310 is fixedly connected to a mounting base 311. The bottom end of the mounting base 311 is fixedly connected to a mechanical gripper 312 arranged in a rectangle.

[0032] The support column 31 is a vertical column structure, fixedly connected to the upper end of the base. The track 32 consists of two parallel long strip guide rails with a dovetail groove cross-section. The first sliding block 33 has a cavity inside that matches the shape of the track 32. The first drive unit 36 ​​and the third drive unit 310 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 36 ​​provides power, which is transmitted through the lifting structure to convert the rotational power into the linear motion of the bearing plate 34 along the track 32, thereby achieving height adjustment. The third drive unit 310 is fixed to the second sliding block 392. At the bottom, its output shaft is vertically connected to the mounting base 311; when the output shaft of the third drive unit 310 is rotated, the mounting base 311 rotates, adjusting the orientation of the egg tray; the arrangement of multiple mechanical grippers 312 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 39, 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 adjustments to the equipment position, making operation more convenient; by designing the mechanical grippers 312, automatic gripping of egg trays is realized, significantly reducing manual intervention and greatly improving production efficiency.

[0033] like Figure 5 As shown, the lifting structure includes a sleeve fixed on the bearing plate 34 and arranged in the vertical direction, and a spiral shaft 37 connected to the output end of the first drive unit 36. The spiral shaft 37 is threadedly engaged with the sleeve. When the first drive unit 36 ​​drives the spiral shaft 37 to rotate, it drives the sleeve 8 and the bearing plate 34 to move up and down along the track 32.

[0034] Specifically, the sleeve is a vertical tube with precision internal threads (matching the external threads of the screw shaft 37). Both ends of the tube are flat, and one end is fixedly connected to the bearing plate 34, maintaining a vertical posture parallel to the track 32. One end of the screw shaft 37 is connected to the output end of the first drive unit 36 ​​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 36 ​​is started, its output end drives the spiral shaft 37 to rotate around its own axis. Since the sleeve is connected to the track 32 through the bearing plate 34 and the first sliding block 33, it is restricted to move only in the vertical direction (cannot rotate with the spiral shaft). The external thread of the spiral shaft 37 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 37 rotates in the forward direction, the sleeve will drive the bearing plate 34 to rise vertically along the track 32 under the action of the thread thrust; if the screw shaft 37 rotates in the reverse direction, the sleeve will drive the bearing plate 34 to fall vertically along the track 32.

[0035] like Figure 6As shown, the lateral movement mechanism 39 includes a lateral track 391 fixed inside the frame 38 along its length, a second drive unit 393 and a reduction assembly 394 disposed at one end of the frame 38, a first transmission wheel 395 fixed at the output end of the reduction assembly 394, and a second transmission wheel 396 disposed at the other end of the frame 38; the first transmission wheel 395 and the second transmission wheel 396 are connected by a belt 397, which passes through the second sliding block 392 and is fixed to the second sliding block 392. When the second drive unit 393 drives the first transmission wheel 395 to rotate via the reduction assembly 394, the belt 397 drives the second sliding block 392 to move along the lateral track 391.

[0036] Specifically, the transverse track 391 is fixed to the bottom or side of the frame 38, parallel to the length of the frame, and serves as the motion reference for the second sliding block 392; the second drive unit 393 is a cylindrical or square motor body, and its output shaft is directly connected to the reduction assembly 394 to provide the initial power for transverse movement; the first transmission wheel 395 is fixed on the output shaft of the reduction assembly 394 (one end of the frame 38); the second transmission wheel 396 is fixed to the other end of the frame 38 through a bearing seat, maintaining the same height as the first transmission wheel 395 and having a parallel axis, ensuring that the belt 397 is tensioned and horizontally transmitted; the bottom of the second sliding block 392 is provided with a guide groove that cooperates with the transverse track 391, and the middle is provided with a belt through hole, which is fixed to the belt 397 by bolts, and the bottom is used to install the third drive unit 310; The second drive unit 393 starts and outputs high-speed rotational power. After being reduced in speed and increased in torque by the reduction assembly 394, it drives the first transmission wheel 395 (driving wheel) to rotate. The first transmission wheel 395 drives the belt 397 to move through tooth meshing. The belt drives the second transmission wheel 396 (driven wheel) to rotate synchronously, forming a closed-loop transmission. Since the belt 397 is rigidly fixed to the second sliding block 392, and the second sliding block 392 is restricted by the transverse track 391 to move only along the length of the track, the linear motion segment of the belt drives the second sliding block 392 to move horizontally along the transverse track 391. By controlling the rotation direction (forward / reverse) and angle of the second drive unit 393, the movement direction (left / right) and distance of the second sliding block 392 can be precisely controlled, realizing the lateral position adjustment of the gripping component. Example 1

[0037] See Figure 7-8A flap-type mechanical gripper for grasping egg trays includes an inner cylinder 3122 fixedly connected to the bottom of a mounting plate, the inner cylinder 3122 being sleeved inside an outer cylinder 3121. An upper support member 3126 is fixedly connected to the upper end of the inner cylinder 3122, and a lower support member 3124 is fixedly connected to the lower end of the outer cylinder 3121. A first spring 3125, sleeved on the inner cylinder 3122, is disposed between the upper support member 3126 and the lower support member 3124. A gripping assembly is disposed at the bottom end of the inner cylinder 3122. A connecting ring 31213 (a ring-shaped metal part with an outer diameter consistent with the inner diameter of the inner cylinder 3122, fixed to the inner wall of the inner cylinder 3122 by welding, and with its upper surface kept horizontal) is fixed to the bottom end relative to the lower part of the second spring 3128. The second spring 3128 is provided between the connecting ring 31213 and the piston 3127. The piston 3127 is located at the upper end of the inner cylinder 3122. When the lower end of the inner cylinder 3122 moves to the lower end of the outer cylinder 3121, the gripping assembly extends out of the outer cylinder 3121.

[0038] 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 3122. The inner cylinder 3122 is a cylindrical hollow cylinder with openings at both ends. Its outer diameter is smaller than that of the outer cylinder 3121, ensuring that the inner cylinder 3122 can slide smoothly along the axial direction inside the outer cylinder 3121 without significant radial swaying during the sliding process. The outer cylinder 3121 has the same shape as the inner cylinder 3122, but its length is shorter than that of the inner cylinder 3122, ensuring that the inner cylinder 3122 can drive the gripping component to extend out of the outer cylinder 3121. The outer wall of the inner cylinder 3122 is provided with a limiting flange (the limiting flange is located in the lower middle part of the outer wall of the inner cylinder 3122), and the inner wall of the outer cylinder 3121 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 3121 (that is, it extends downward from the position of the inner wall of the outer cylinder 3121 near the upper opening to the lower middle part of the inner wall of the outer cylinder 3121). The limiting flange and the limiting groove cooperate to form an axial movement constraint. The upper support member 3126 is fixedly connected to the upper end of the inner cylinder 3122 (which can be welded); the lower support member 3124 consists of two sections and is fixedly connected to the upper side wall of the outer cylinder 3121 respectively; in this embodiment, the upper support member 3126 and the lower support member 3124 are connecting rods, with the upper support member 3126 fixedly connected to the upper end of the inner cylinder 3122 and the lower support member 3124 fixedly connected to the upper end of the outer cylinder 3121. The first spring 3125 is made of spring steel, and its inner diameter is larger than the outer diameter of the inner cylinder 3122. It is sleeved on the outside of the inner cylinder 3122, and the upper and lower ends of the first spring 3125 abut against the lower surface of the upper support 3126 and the upper surface of the lower support 3124 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 3121 contacts the upper side of the arched part of the egg tray, the inner cylinder 3122 retracts into the outer cylinder 3121. At this time, the distance between the lower support member 3124 and the upper support member 3126 gradually shortens, gradually approaches the upper support member 3126 and compresses the first spring 3125. The first spring 3125 generates an upward elastic reaction force. At the same time, the inner cylinder 3122 drives the gripping component to move downward synchronously, so that the gripping component gradually approaches and contacts the gripping position of the egg tray. As the outer cylinder 3121 continues to move upward, the compression of the first spring 3125 increases, and the elastic reaction force is transmitted to the outer cylinder 3121 through the lower support 3124. The pressure of the outer cylinder 3121 on the egg tray increases, ensuring stable support of the outer cylinder 3121. 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 3121 contacts the support structure at the target position again and stops moving down, the outer cylinder 3121 moves up relative to the inner cylinder 3122, the gripping component releases the egg tray, and the release is completed; then the mounting plate rises, the outer cylinder 3121 resets under the action of the first spring 3125, and waits for the next gripping cycle.

[0039] like Figure 8 As shown, the gripping assembly includes a piston 3127, a hinge plate 3129, and two flap grippers 3123. The piston 3127 is located at the upper end of the inner cylinder 3122. A thin rod 31214 is fixedly connected to the center of the bottom end of the piston 3127. A connecting ring 31213 is fixedly connected to the bottom end of the inner cylinder 3122. A second spring 3128 is provided between the connecting ring 31213 and the piston 3127, and the upper end of the second spring 3128 abuts against the lower end of the piston 3127. The lower end of 128 abuts against the upper end of the connecting ring 31213; the thin rod 31214 passes through the central hole of the second spring 3128 (the axis of the thin rod 31214 coincides with the axis of the second spring 3128), the lower end of the thin rod 31214 is fixedly connected to the center position of the upper end of the hinge plate 3129, the upper ends of the two petal grippers 3123 are hinged to the bottom end of the hinge plate through the hinge member 31210, and the two ends of the petal grippers 3123 are connected to the bottom end of the inner cylinder 3122 through the hinge strip 31215.

[0040] Specifically, the mounting plate is fixedly connected to the inner cylinder 3122, forming a closed space inside the inner cylinder 3122 as an air chamber; the piston 3127 is cylindrical in shape, and its outer diameter is adapted to the inner diameter of the inner cylinder 3122, ensuring that the piston 3127 can slide smoothly along the axial direction inside the inner cylinder 3122, and the piston 3127 and the inner cylinder 3122 are sealed together; the upper and lower end faces of the piston 3127 are both flat planes, and the center of the bottom end is fixedly connected to the thin rod 31214; the upper and lower ends of the second spring 3128 respectively abut against the piston 3127 and the connecting ring 31213; the upper end of the piston 3127 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 3122, and the air inlet is connected to an external inflation device through an air pipe to control the extension and retraction of the piston 3127; The petal-shaped gripper 3123 is symmetrically petal-shaped and conical in shape. The hinge 31210 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 3123. The two are hinged by a pin passing through the pin holes of the petal-shaped gripper 3123 and the hinge 31210. When inserted, the petal-shaped gripper 3123 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 3123 moves upward with the hinge plate 3129, and the lower end rotates outward around the hinge 31210, forming an arc-shaped trajectory of "retracting and opening". The flap gripper 3123 has two sets of rigid rod-shaped hinge bars 31215 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 3122 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 3123 by a pin (a vertical connecting ear plate is preset at the upper end of the flap gripper 3123, perpendicular to the side wall of the flap gripper 3123), 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 3125 and the second spring 3128 are in a natural extension and contraction state; the limiting flange of the inner cylinder 3122 is located at the uppermost end of the limiting groove of the outer cylinder 3121; the piston 3127 is located at the upper part of the inner cylinder 3122; the two ends of the second spring 3128 respectively abut against the lower end of the piston 3127 and the upper end of the connecting ring 31213 on the inner wall of the inner cylinder 3122; the thin rod 31214 passes through the central hole of the second spring 3128 and is fixedly connected to the hinge plate 3129 at its lower end; the two petal grippers 3123 are located outside the inner cylinder 3122 and inside the outer cylinder 3121 (or the lower ends of the two petal grippers 3123 protrude slightly from the lower end of the outer cylinder 3121), and the lower ends of the two petal grippers 3123 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 3121 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 3122 moves downward within the outer cylinder 3121 under the pressure of the drive unit. The limiting flange slides along the limiting groove, and the connecting ring 31213 moves downward synchronously with the inner cylinder 3122. At the same time, the external inflation device injects a certain amount of air pressure into the upper air chamber of the inner cylinder 3122, pushing the piston 3127 downward. This prevents the piston 3127 from shifting upward relative to the inner cylinder 3122 due to the elastic support of the second spring 3128, thereby ensuring that the thin rod 31214 can stably carry... The movable hinge plate 3129, hinge member 31210, and two petal grippers 3123 move downward relative to the outer cylinder 3121. When the limiting flange moves to the lower end of the limiting groove, the petal grippers 3123 fully extend out of the outer cylinder 3121 and completely pass through the arched part of the egg tray. During this process, the petal grippers 3123 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 3122. The two sets of hinge bars gradually unfold from the folded state, coordinating to constrain the movement trajectory of the petal grippers 3123, so that the lower end of the petal grippers 3123 gradually opens outward.

[0041] The external inflation device continues to inflate, and the piston 3127 moves further down, pushing the flap gripper 3123 to open continuously through the thin rod 31214 and the hinge plate 3129 until the first hinge bar and the second hinge bar are extended to their maximum angle. The lower end of the flap gripper 3123 fits against the lower side wall of the arched part of the egg tray, forming a stable support.

[0042] When the egg tray is released, the inner cylinder 3122 returns to its original position, the hinge plate 3129 drives the petal gripper 3123 to move upward, the second hinge bar moves upward with the petal gripper 3123 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 3123 closes and exits from the slot of the egg tray. Example 2

[0043] 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.

[0044] In this embodiment, as Figure 9 and Figure 10 As shown, the gripping component includes a conical block 31211 and a balloon 31212. The balloon 31212 is glued to the bottom end of the inner cylinder 3122, and an integrally formed snap-fit ​​tube is fixedly connected to the upper end of the conical block 31211. The snap-fit ​​tube snaps onto the inner cylinder 3122, and the balloon 31212 is located inside the snap-fit ​​tube. The bottom end of the snap-fit ​​tube is provided with symmetrical through holes. When the conical block 31211 is inserted into the arched part of the egg tray, the balloon 31212 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 31212 is made of elastic material.

[0045] Specifically, the diameter of the through-hole of the clip tube is smaller than the maximum diameter of the balloon 31212 in its uninflated state, ensuring that the balloon 31212 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 31212 is made of medical-grade silicone, which has good elasticity, wear resistance, and food safety; when uninflated, the balloon 31212 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 31212 is sealed to the inner wall of the clip tube (by adhesive), ensuring no air leakage during inflation, while The opening of balloon 31212 is further compressed between the inner tube and the snap-fit ​​tube to prevent air leakage; the inner tube 3122 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 balloon 31212; in this embodiment, the upper support 3126 and the lower support 3124 are connecting rings, the upper support 3126 is fixedly connected to the upper end of the inner tube 3122, and the lower support 3124 is fixedly connected to the middle of the outer tube 3121; the upper and lower ends of the first spring 3125 are respectively fixedly connected to the upper support 3126 and the lower support 3124 as connecting rings; In the initial state, the first spring 3125 is in a naturally extended state, the inner cylinder 3122 extends the longest relative to the outer cylinder 3121; the balloon 31212 is in a deflated state (completely retracted into the snap-fit ​​tube), and the tip of the cone block 31211 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 31211 aligns with the arch of the egg tray and gradually inserts into the egg tray. When the upper side wall of the conical block 31211 contacts the upper surface of the egg tray, the bottom of the outer cylinder 3121 also contacts the peripheral support structure of the egg tray and stops moving downwards. The mounting plate continues to descend, and the inner cylinder 3122 moves downwards relative to the outer cylinder 3121 and compresses the first spring 3125, ensuring that the conical block 31211 is stably inserted into the egg tray to the preset depth. When the external inflation device is activated, gas enters the balloon 31212 through the air passage of the inner cylinder 3122. Due to the elastic material properties, the balloon 31212 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 31212 is attached to the upper surface of the egg tray (positioning), and the balloon 31212 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 3121 contacts the target support structure and stops moving downward. The inflation device stops supplying air and starts venting. The balloon 31212 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 conical block 31211 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 3125, waiting for the next grabbing cycle.

[0046] 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 integrated egg sorting device, comprising an egg sorting device (1), characterized in that: The egg sorting equipment (1) is equipped with an egg tray feeding device (2) on the feeding side and an egg tray unloading device (3) on the discharging side. The egg tray feeding device (2) includes a frame (21), and a lifting mechanism and a transfer mechanism set on the frame (21). The lifting mechanism is used to carry stacked egg trays, and the transfer mechanism is used to transfer the uppermost egg tray to the egg sorting equipment (1). The egg tray unloading device (3) includes a support column (31), a lifting structure and a lateral moving mechanism (39) set on the support column (31). The lateral moving mechanism is equipped with a mechanical gripper (312) for grabbing the egg tray on the egg sorting equipment (1) and removing it.

2. The integrated egg sorting equipment according to claim 1, characterized in that: The transfer mechanism includes a traversing mechanism and a gripper assembly (25). The traversing mechanism is mounted on the frame (21), and the gripper assembly (25) is connected to the traversing mechanism. The traversing mechanism can drive the gripper assembly (25) to move back and forth between the lifting mechanism and the egg sorting equipment (1) above the lifting mechanism.

3. The integrated egg sorting equipment according to claim 1, characterized in that: The lifting mechanism includes a guide rod (27), a support plate (28), and a lifting drive component (29). The guide rod is installed at the four corners of the frame (21). The support plate (28) is provided with a guide sleeve (2801) that cooperates with the guide rod (27). The lifting drive component (29) is installed on the frame (21). The support plate (28) is connected to the output end of the lifting drive component.

4. The integrated egg sorting equipment according to claim 2, characterized in that: The transverse mechanism includes a sliding seat (22), a transverse guide rail (210), and a transverse drive (212). The sliding seat (22) is mounted on the upper end of the frame (21). The sliding seat (22) is provided with a slider (211) that cooperates with the transverse guide rail (210). The sliding seat (22) is connected to the output end of the transverse drive (212).

5. The integrated egg sorting equipment according to claim 2, characterized in that: The gripper assembly (25) includes a gripper cylinder (2501) and two grippers (2502). The output end of the gripper cylinder (2501) is hinged to the two grippers (2502). The gripper cylinder (2501) can drive the grippers (2502) that penetrate the fixed plate (24) to clamp or release the egg tray.

6. The integrated egg sorting equipment according to claim 1, characterized in that: The lifting structure includes a sleeve fixed on the bearing plate (34) and arranged in a vertical direction, and a spiral shaft (37) connected to the output end of the first drive unit (36), wherein the spiral shaft (37) is threaded in the sleeve.

7. The integrated egg sorting equipment according to claim 1, characterized in that: The lateral movement mechanism (39) includes a lateral track (391), a second drive unit (393), a deceleration assembly (394), a first transmission wheel (395), a second transmission wheel (396), and a belt (397). The belt (397) is fixed to the second sliding block (392). When the second drive unit (393) drives the first transmission wheel (395) to rotate via the deceleration assembly (394), the belt (397) drives the second sliding block (392) to move along the lateral track (391).

8. The integrated egg sorting equipment according to claim 1, characterized in that: The mechanical gripper (312) includes an inner cylinder (3122) and an outer cylinder (3121). The inner cylinder (3122) is fitted inside the outer cylinder (3121), and a gripping component is provided at the bottom end of the inner cylinder (3122).

9. The integrated egg sorting equipment according to claim 8, characterized in that: The gripping assembly includes a piston (3127), a hinge plate (3129), and two petal grippers (3123). The piston (3127) is located at the upper end of the inner cylinder (3122). A thin rod (31214) is fixedly connected to the bottom end of the piston (3127). The lower end of the thin rod (31214) is fixedly connected to the hinge plate (3129). The upper ends of the two petal grippers (3123) are hinged to the bottom end of the hinge plate (3129) through a hinge (31210). The two ends of the petal grippers (3123) are connected to the bottom end of the inner cylinder (3122) through a hinge strip (31215).

10. The integrated egg sorting equipment according to claim 8, characterized in that: The gripping component includes a cone-shaped block (31211) and a balloon (31212). The balloon (31212) is glued to the bottom end of the inner cylinder (3122). An integrally formed snap-fit ​​tube is fixedly connected to the upper end of the cone-shaped block (31211). The snap-fit ​​tube is snapped onto the inner cylinder (3122). The balloon (31212) is inside the snap-fit ​​tube. The bottom end of the snap-fit ​​tube is provided with symmetrical through holes.

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