CN112042695A - A device for brushing egg liquid - Google Patents

Abstract

The application relates to the technical field of food processing, and in particular, to a device for brushing egg liquid, including a conveying mechanism, a position detection mechanism and an egg liquid brushing mechanism; the conveying mechanism includes a conveying line and a speed detection device, and the speed detection device is used to detect the conveying line to the tray. The position detection mechanism is used to obtain the three-dimensional position information of the moon cakes on the tray; the egg-washing mechanism includes a robot and a brush, and the speed detection device and the position detection mechanism are both connected with the robot signal; the robot is used according to the conveying speed of the tray. According to the three-dimensional position information of the moon cake, the moving path and moving speed of the brush to brush the moon cake on the tray with egg liquid are obtained through data processing, and the robot controls the brush to move accordingly according to the obtained moving path and moving speed so as to brush the moon cake. egg wash. The present application can realize the fully automatic operation of brushing egg liquid on moon cakes, and effectively solve the technical problems of poor egg liquid coating effect and low efficiency in the prior art.

Description

A device for brushing egg liquid

technical field

The application relates to the technical field of food processing, and in particular, to a device for brushing egg liquid.

Background technique

Eating moon cakes on the Mid-Autumn Festival is a tradition that has lasted for thousands of years in China. In the middle of baking, the moon cake needs to be coated with a layer of egg liquid on its surface to make the baked moon cake golden in color. Due to the traditional Cantonese-style moon cakes, the angles are square and clear, and the cake body expands in the shape of a waist drum. After baking, it not only requires golden color, consistent shades, but also exquisite and clear patterns. Therefore, sweeping egg liquid is not simply to apply egg liquid on the surface of the moon cake, but requires skill. The egg liquid must be brushed lightly and evenly on the pattern on the surface of the moon cake. The existing process of brushing egg liquid is still mostly done manually. However, because the egg-washing section needs to be set in the middle of the tunnel oven, the room temperature is above 40 degrees, and the working environment is difficult; and the efficiency of manual egg-washing is low.

However, in recent years, with the continuous increase in the sales of moon cakes, the production efficiency of moon cakes needs to be improved, and many devices for quickly brushing egg wash appear. However, the prior art egg brushing equipment only pays attention to solving the problem of production efficiency and ignores many detailed problems in production, such as uneven trays, errors in automatic plate arrangement, or subtle differences in individual moon cakes. Mechanized quick egg sweeping is difficult to ensure that the egg liquid can be applied evenly on the surface of each moon cake pattern, resulting in uneven color of the baked moon cake, unclear pattern or too deep coloring on the surface except for the pattern. Although the existing technology solves the problem of production efficiency, it is difficult to meet the requirements of traditional Cantonese-style moon cakes. Therefore, there is a need for an egg brushing device with good smearing effect and high efficiency.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present application is to provide a device for brushing egg wash, which effectively solves the technical problems of poor egg wash effect and low efficiency in the prior art.

In order to achieve the above purpose, the application provides the following technical solutions:

A device for brushing egg liquid, comprising a conveying mechanism, a position detection mechanism and an egg liquid brushing mechanism;

The conveying mechanism includes a conveying line and a speed detection device, the conveying line is used for conveying the trays on which the moon cakes are placed, and the trays on the conveying line pass through the position detection mechanism and the egg-washing mechanism in sequence;

The speed detection device is used for detecting the conveying speed of the conveying line to the pallet;

The position detection mechanism is used to visually scan the moon cakes on the tray and obtain the three-dimensional position information of the moon cakes;

The egg-washing mechanism includes a robot and a brush, the brush is arranged at the movable end of the robot, and the speed detection device and the position detection mechanism are both signal-connected to the robot;

The robot is used to obtain the moving path and moving speed of the brush to process the egg liquid on the moon cakes on the tray according to the conveying speed of the tray and the three-dimensional position information of the moon cakes and through data processing, and the robot is based on the obtained moving path and the moving speed. The moving speed controls the brushes to move accordingly so as to brush the mooncakes on the tray with egg wash.

Preferably, in the above-mentioned egg brushing equipment, the robot includes a control system, a mechanical arm, and a brush clamping mechanism;

Both the speed detection device and the position detection mechanism are signally connected to the control system, the control system is connected to the mechanical arm, and the brush clamping mechanism is rotatably connected to the mechanical arm.

Preferably, in the above-mentioned egg liquid brushing equipment, an egg liquid storage device is further included, and the control system controls the mechanical arm to drive the brush clamping mechanism to drive the brush to move into the egg liquid storage device for dipping. Brush the egg wash on the mooncakes on the tray.

Preferably, in the above-mentioned egg liquid brushing equipment, the egg liquid storage device includes a liquid storage tank and an egg liquid scraping rod, and the egg liquid scraping rod is erected in the liquid storage tank.

Preferably, in the above-mentioned egg liquid brushing equipment, the egg liquid storage device further comprises a refrigeration tank, and the liquid storage tank is placed in the refrigeration tank;

The refrigerating tank is provided with a refrigerating component, the refrigerating component includes a heat conduction plate, a water channel is arranged inside the heat conduction plate, and the heat conduction plate is provided with a cold water inlet and a cold water outlet; the heat conduction plate is thermally connected to the refrigeration tank.

Preferably, in the above-mentioned egg liquid brushing device, the brush clamping mechanism includes a gripper cylinder, and the gripper cylinder is rotatably connected to the free end of the mechanical arm;

The two claw heads of the clamping claw cylinder are provided with facing groove pads;

The two grooved pads are provided with opposite clamping grooves, and the two clamping grooves together form a clamping space matched with the brush.

Preferably, in the above-mentioned egg brushing equipment, the speed detection device includes an encoder, a connector and a spring;

The first end of the connecting piece is rotatably connected with the conveying bracket of the conveying line, and the encoder is mounted on the second end of the connecting piece;

The first end of the spring is connected to the middle of the connecting piece, and the second end of the spring is connected to the delivery support;

The connecting piece is arranged obliquely, and the spring is in a stretched state, so that the rotating wheel of the encoder is in rolling contact with the transmission shaft of the conveying line.

Preferably, in the above-mentioned egg brushing equipment, a correcting device for correcting the position of the tray on the conveying line is also included.

Preferably, in the above-mentioned egg brushing device, the correcting device includes a correcting mechanism and an inductive sensor;

Both sides of the conveying line are provided with the correcting mechanism, and the correcting mechanism includes a telescopic cylinder and a push plate, and the push plate is connected with the piston rod of the telescopic cylinder;

The two push plates are arranged in parallel and a correction area is formed between the two push plates, and the induction sensor is used to detect whether the induction tray reaches the correction area.

Preferably, in the above-mentioned egg brushing device, the position detection mechanism is specifically a three-dimensional scanner.

This application can be used for brushing egg washes on moon cakes, and can also be used for brushing egg washes on other foods such as wife cakes and breads, which will not be repeated in this application.

Compared with the prior art, the beneficial effects of the present application are:

In the present application, the tray with moon cakes is continuously conveyed through the conveyor line, and the conveying speed of the tray on the conveyor line is detected by the speed detection device, and the data is transmitted to the robot. When the tray passes through the position detection mechanism, the position detection mechanism The three-dimensional position information of the moon cake can be obtained by visual scanning of the moon cake, and the data can be sent to the robot. The robot of the egg-washing mechanism obtains the brush to brush the eggs on the moon cake on the tray by processing the data of the conveying speed of the tray and the three-dimensional position information of the moon cake. The moving path and moving speed of the liquid processing, and the robot of the egg-washing mechanism controls the brush to move accordingly according to the obtained moving path and moving speed, so as to brush the egg liquid on the moon cakes on the tray, which can realize the brushing of the egg liquid on the moon cakes. Fully automatic operation with good egg coating effect, replacing the traditional manual coating, reducing unnecessary labor burden, improving the processing quality and efficiency of moon cakes, reducing the labor cost of the factory, and effectively solving the existing technology There are technical problems of poor egg coating effect and low efficiency.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only It is an embodiment of the present application. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without any creative effort.

Fig. 1 is a perspective view of a kind of egg brushing equipment provided by the embodiment of the application;

Fig. 2 is a front view of a kind of egg brushing equipment provided by the embodiment of the application;

Fig. 3 is a top view of a kind of egg brushing equipment provided by the embodiment of the application;

Fig. 4 is a side view of a kind of egg brushing equipment provided by the embodiment of the application;

Fig. 5 is the top view of the speed detection device of a kind of egg brushing equipment provided by the embodiment of the application;

Fig. 6 is the bottom view of the speed detection device of a kind of egg brushing equipment provided by the embodiment of the application;

FIG. 7 is a perspective view of a brush clamping mechanism of an egg-washing device provided by an embodiment of the application;

8 is a schematic working diagram of a brush clamping mechanism of a brushing device for egg liquid provided by an embodiment of the application;

9 is a perspective view of an egg liquid storage device of a kind of egg liquid brushing equipment provided by the embodiment of the application;

Figure 10 is a schematic diagram of the egg liquid storage device of a kind of egg liquid brushing equipment provided by the embodiment of the application after removing the liquid storage tank;

11 is a perspective view of a liquid storage tank of a kind of egg brushing equipment provided by the embodiment of the application;

12 is a schematic diagram of the egg liquid storage device of a kind of egg liquid brushing equipment provided by the embodiment of the application after removing the refrigeration tank;

13 is a perspective view of a refrigeration tank of a kind of egg brushing equipment provided by the embodiment of the application;

FIG. 14 is a schematic structural diagram of a correcting device for an egg brushing device provided in an embodiment of the application.

In the picture:

1 is the conveying line, 11 is the tray, 2 is the speed detection device, 21 is the conveying bracket, 22 is the transmission shaft, 23 is the encoder, 231 is the runner, 24 is the spring, 25 is the connecting piece, 26 is the extension piece, 261 is the first bolt, 27 is the fixed seat, 271 is the second bolt, 272 is the support, 3 is the position detection mechanism, 4 is the egg brushing mechanism, 41 is the mechanical arm, 42 is the gripper cylinder, 421 is the claw head, 43 is a groove pad, 431 is a clamping groove, 44 is an L-shaped plate, 45 is a flange bearing, 46 is a brush, 5 is an egg liquid storage device, 51 is a liquid storage tank, 511 is the first retaining ring, 512 52 is the refrigerating tank, 521 is the second retaining ring, 522 is the second clamping piece, 53 is the support frame, 531 is the drawer, 532 is the drawer guide rail, 533 is the first groove, 54 is the detection Sensor, 55 is a fixing piece, 551 is a first clip, 56 is a heat-conducting plate, 6 is a correcting device, 61 is a correcting mechanism, 611 is a telescopic cylinder, 612 is a push plate, 613 is a fixing plate, 62 is an inductive sensor, 63 is a mounting seat, 631 is a first mounting plate, and 632 is a second mounting plate.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" The orientation or positional relationship indicated by ” etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, It is constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of the present application. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the embodiments of the present application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a The interchangeable connection, or the integral connection, can be a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, or an internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present application in specific situations.

Eating moon cakes on the Mid-Autumn Festival is a tradition that has lasted for thousands of years in China. In the middle of baking, the moon cake needs to be coated with a layer of egg liquid on its surface to make the baked moon cake golden in color. Due to the traditional Cantonese-style moon cakes, the angles are square and clear, and the cake body expands in the shape of a waist drum. After baking, it not only requires golden color, consistent shades, but also exquisite and clear patterns. Therefore, sweeping egg liquid is not simply to apply egg liquid on the surface of the moon cake, but requires skill. The egg liquid must be brushed lightly and evenly on the pattern on the surface of the moon cake. The existing process of brushing egg liquid is still mostly done manually. However, because the egg-washing section needs to be set in the middle of the tunnel oven, the room temperature is above 40 degrees, and the working environment is difficult; and the efficiency of manual egg-washing is low.

However, in recent years, with the continuous increase in the sales of moon cakes, the production efficiency of moon cakes needs to be improved, and many devices for quickly brushing egg wash appear. However, the prior art egg brushing equipment only pays attention to solving the problem of production efficiency and ignores many detailed problems in production, such as uneven trays, errors in automatic plate arrangement, or subtle differences in individual moon cakes. Mechanized quick egg sweeping is difficult to ensure that the egg liquid can be applied evenly on the surface of each moon cake pattern, resulting in uneven color of the baked moon cake, unclear pattern or too deep coloring on the surface except for the pattern. Although the existing technology solves the problem of production efficiency, it is difficult to meet the requirements of traditional Cantonese-style moon cakes. Therefore, there is a need for an egg brushing device with good smearing effect and high efficiency.

Referring to FIGS. 1-14 , an embodiment of the present application provides a device for brushing egg liquid, including a conveying mechanism, a position detection mechanism 3 and an egg liquid brushing mechanism 4; the conveying mechanism includes a conveying line 1 and a speed detecting device 2, and the conveying line 1 is used to transport the tray 11 on which the moon cakes are placed, and the tray 11 on the conveyor line 1 passes through the position detection mechanism 3 and the egg-washing mechanism 4 in turn; the speed detection device 2 is used to detect the conveying speed of the conveyor line 1 to the tray 11; position The detection mechanism 3 is used to visually scan the moon cakes on the tray 11 and obtain the three-dimensional position information of the moon cakes; the egg-washing mechanism 4 includes a robot and a brush 46, and the brush 46 is arranged on the movable end of the robot. The speed detection device 2 and the position The detection mechanism 3 is all connected with the robot signal; the robot is used to obtain the moving path and moving speed of the brush 46 for brushing the moon cakes on the tray 11 with egg liquid according to the conveying speed of the tray 11 and the three-dimensional position information of the moon cake and through data processing, And the robot controls the brush 46 to move accordingly according to the obtained moving path and moving speed, so as to brush egg wash on the moon cake on the tray 11 .

This example can be used to brush egg washes on moon cakes, and can also be used to brush egg washes on other foods such as wife cakes and breads, which will not be repeated in this embodiment.

More specifically, the conveying line 1 is arranged on the conveying bracket 21, the position detection mechanism 3 and the egg-washing mechanism 4 are arranged respectively on the first bracket and the second bracket, and the first bracket and the second bracket are both in the shape of a portal frame. It is arranged across the conveying bracket 21, so that the position detection mechanism 3 and the egg-washing mechanism 4 can be located above the conveying line 1; the position detection mechanism 3 and the egg-washing mechanism 4 are both provided with independent control panels; three-dimensional position information of the moon cake Including the position data on the tray 11 where the moon cake is located and the height data of the moon cake itself, when processing the data, the scanning area scanned by the position detection mechanism 3 on the tray 11 can obtain the position of the tray 11 on the conveying line 1 (equivalent to each The initial position of the tray 11), combined with the position data on the tray 11 where the moon cakes are located, the scanning position of the moon cakes on the conveyor line 1 can be calculated; Therefore, by calculating the conveying speed of the tray 11, the time required for the tray 11 to move from the scanning area to the egg-washing area can be obtained. Combined with the scanning position of the moon cake on the conveying line 1, the specific egg-washing area of the moon cake in the egg-washing area can be calculated. position; and the specific three-dimensional position point of the brush 46 for brushing the egg wash on the moon cake can be calculated through the specific egg wash position of the moon cake in the egg wash area and the height data of the moon cake itself, and the initial position of the brush 46 points to the brush 46 The three-dimensional specific position of the egg wash is the moving path of the brush 46 , and then the moving speed of the brush 46 is obtained by the ratio of the actual length of the moving path of the brush 46 to the required time.

In this embodiment, the tray 11 with moon cakes is continuously transported through the conveyor line 1, and the conveying speed of the tray 11 on the conveyor line 1 is detected by the speed detection device 2 and the data is transmitted to the robot. When the tray 11 passes through the position detection mechanism 3, the position The detection mechanism 3 can obtain the three-dimensional position information of the moon cakes by visually scanning the moon cakes on the tray 11 and transmit the data to the robot. The brush 46 carries out the moving path and moving speed of the egg-washing process on the moon cakes on the tray 11 , and the robot of the egg-washing mechanism 4 controls the brush 46 to move accordingly according to the obtained moving path and moving speed so as to clean the eggs on the tray 11 . The moon cake brushing egg liquid can realize the fully automatic operation of the moon cake brushing egg liquid, has a good egg liquid coating effect, replaces the traditional manual coating, reduces unnecessary labor burden, and is conducive to improving the processing quality and efficiency of moon cakes. The labor cost of the factory is reduced, and the technical problems of poor egg coating effect and low efficiency in the prior art are effectively solved.

Further, in this embodiment, the position detection mechanism 3 is specifically a three-dimensional scanner. The 3D scanner can be used to detect and analyze the shape and appearance data of objects or environments in the real world. It has the advantages of fast scanning speed, high precision, wide scanning range, non-contact and no damage, and simple and easy operation. The three-dimensional shape and structure of the moon cake can be accurately obtained to obtain the position data on the tray 11 where the moon cake is located and the height data of the moon cake itself, so that the egg brushing equipment can accurately brush the moon cake with egg liquid, which is beneficial to ensure the brushing of the egg liquid equipment on the moon cake. Egg effect.

Further, in this embodiment, please refer to FIGS. 5-6 , the speed detection device 2 includes an encoder 23, a connecting piece 25 and a spring 24; , the encoder 23 is installed on the second end of the connecting piece 25; the first end of the spring 24 is connected with the middle of the connecting piece 25, and the second end of the spring 24 is connected with the conveying bracket 21; the connecting piece 25 is inclined and the spring 24 is in tension In the extended state, the runner 231 of the encoder 23 is in rolling contact with the transmission shaft 22 of the conveying line 1 . By utilizing the elastic action of the spring 24, a downward force can be generated on the connecting piece 25, so that both the connecting piece 25 and the encoder 23 have a downward tendency to move, so that the runner 231 of the encoder 23 can always be in contact with the transmission shaft 22. Rolling contact, so that the encoder 23 can measure the rotation speed of the transmission shaft 22 through the runner 231 and then measure the conveying speed of the conveyor belt or conveyor chain (that is, the conveying speed of the pallet 11), and will not be affected by the conveyor belt or conveyor chain. The influence of jitter has the advantages of small measurement error and accurate measurement results.

More specifically, a conveyor belt or a conveyor chain is installed on the conveyor bracket 21, and the motor of the conveyor line 1 drives the transmission shaft 22 to rotate to drive the conveyor belt or conveyor chain to rotate on the conveyor bracket 21; the conveyor bracket 21 is rotatably installed with two transmission shafts 22 , the output shaft of the motor is connected with any one of the transmission shafts 22; when using a conveyor belt, the two transmission shafts 22 are provided with corresponding transmission wheels, and the conveyor belts are arranged around the two transmission wheels to make the two transmission shafts 22 drive connection; When the transmission chain is used, the two transmission shafts 22 are provided with corresponding gears, and the two transmission shafts 22 are connected by two gears and the matching transmission chain, and the transmission chain can be provided with two, two transmission chains They are symmetrically arranged on both sides of the conveying bracket 21 ; the encoder 23 and the runner 231 are respectively located on both sides of the connecting piece 25 , and the rotating shaft of the encoder 23 is connected to the runner 231 through the connecting piece 25 .

The speed detection device 2 further includes a fixing base 27, the bottom end of the fixing base 27 is connected with the conveying bracket 21, the top end of the fixing base 27 is rotatably connected with the first end of the connecting piece 25; the middle part of the connecting piece 25 is extended with an extension piece 26. The first end of the spring 24 is connected with the extension piece 26, and the second end of the spring 24 is connected with the fixed seat 27; compared with the direct rotational connection of the connecting piece 25 with the conveying bracket 21, the addition of the fixed seat 27 can not only serve as the connecting piece 25 The middle part connected with the conveying bracket 21 makes it easier for the staff to install the rotatable connecting piece 25, and can effectively elevate the height of the connecting piece 25, so that the second end of the connecting piece 25 can be closer to the transmission shaft 22 and the rotating wheel 231 of the encoder 23 can always stick to the surface of the transmission shaft 22 .

An extension piece 26 is extended and connected to the middle of the connecting piece 25 , the first end of the spring 24 is connected to the extension piece 26 , and the second end of the spring 24 is connected to the fixing seat 27 . By adding the extension piece 26 , the installation space of the spring 24 can be effectively enlarged, and it is convenient for the staff to install the spring 24 between the connecting piece 25 and the fixing seat 27 .

One end of the extension piece 26 away from the connecting piece 25 is provided with a first bolt 261, the middle of the fixing seat 27 is provided with a second bolt 271, and both ends of the spring 24 are provided with fixing rings, and the two fixing rings are respectively sleeved on the first bolt 271. on the bolt 261 and the second bolt 271. In this way, both ends of the spring 24 are detachably connected to the extension piece 26 or the fixing seat 27. When the encoder 23 needs to be removed for maintenance and adjustment, the first bolt 261 and the second bolt 271 can be loosened, so that the spring 24 can be Quickly disassembled from between the extension piece 26 and the fixed seat 27 , the extension piece 26 , the connecting piece 25 and the encoder 23 are no longer restricted by the spring 24 , so that the operator can remove the encoder 23 from the conveying bracket 21 . In addition, the fixing base 27 and the extension member 26 may be provided with a plurality of screw holes at different positions, so that the staff can select a reasonable screw hole according to the length of the spring 24 to install the first bolt 261 or the second bolt 271 .

Wherein, two sides of the bottom end of the fixing seat 27 are extended and connected with supporting members 272 in the horizontal direction. The fixing base 27 is vertically arranged, and the support 272 extending from the bottom end of the fixing base 27 can effectively increase the contact area between the fixing base 27 and the conveying bracket 21, so that the fixing base 27 can be better connected with the conveying support 21, which is beneficial to The stability of the fixed seat 27 is increased, thereby increasing the stability of the connecting piece 25 and the encoder 23 , which is beneficial to ensure the speed measurement accuracy of the encoder 23 .

Further, in this embodiment, the robot includes a control system, a mechanical arm 41, and a brush 46 clamping mechanism; both the speed detection device 2 and the position detection mechanism 3 are signally connected to the control system, and the control system is connected to the mechanical arm 41, and the hair The brush 46 clamping mechanism is rotatably connected to the mechanical arm 41 , and the brush 46 is fixedly mounted on the brush 46 clamping mechanism. The control system is used to control the mechanical arm 41 to drive the brush 46 clamping mechanism to drive the brush 46 to move accordingly according to the obtained moving path and moving speed of the brush 46 for brushing the moon cakes on the tray 11 with egg liquid so as to move the brush 46 accordingly. Brush the mooncake with egg wash.

Further, in this embodiment, please refer to FIGS. 7-8 , the clamping mechanism of the brush 46 includes a gripper cylinder 42, which is rotatably connected with the free end of the mechanical arm 41; The claw head 421 is provided with opposite groove pads 43 ; the two groove pads 43 are provided with opposite clamping grooves 431 , and the two clamping grooves 431 together form a clamping space matching the brush 46 . The friction between the clamping mechanism and the brush 46 can be effectively increased by the grooved pads 43 between the two claw heads 421 of the clamping jaw cylinder 42, so that the brush 46 can be clamped more stably, and the two grooved pads 43 There is a clamping groove 431 that matches the brush 46, which can effectively avoid the looseness and displacement of the brush 46 during the movement process, further increase the stability of the clamping mechanism to clamp the brush 46, and can be mechanically The arm 41 controls the jaw cylinder 42 and the brush 46 to move stably, which is beneficial to ensure the effect of the brush 46 on the egg wash on the moon cake.

More specifically, the grooved pad 43 is made of POM material; the gripper cylinder 42 is a flat gripper finger. The block is slidably installed on the same guide rail on the gripper cylinder 42, and the two groove pads 43 jointly clamp the brush 46, so that the brush 46 is arranged in parallel with the claw head 421, so that the brush 46 is arranged in the plane of the air gripper cylinder. Keep the vertical angle, that is, when the air gripper cylinder is kept in a horizontal state, the brush 46 is in a vertical state. During use, the rotation of the mechanical arm 41 can control the brush 46 to tilt and brush the egg liquid; the shape of the two clamping grooves 431 Designed according to the shape of the handle of the brush 46, the two clamping grooves 431 together form a clamping space that matches the handle of the brush 46. On the premise that the clamping space is matched, the two clamping grooves 431 can pass through the two clamps of the clamping jaw cylinder 42. When the claw heads 421 are pressed against each other, the handle of the brush 46 can be subjected to the pressing force from both sides, which effectively avoids the loosening and displacement of the brush 46; the free end of the mechanical arm 41 is the end of the mechanical arm 41. end.

Wherein, the brush 46 clamping mechanism also includes an L-shaped plate 44, the L-shaped plate 44 includes a vertically connected bottom plate (not shown in the figure) and a side plate, the bottom plate is connected with the bottom of the clamping jaw cylinder 42, and the inner side of the side plate It is connected with the side wall of the gripper cylinder 42 , and the outer side of the side plate is rotatably connected with the mechanical arm 41 . The L-shaped plate 44 can not only serve as the connecting part of the gripper cylinder 42 and the manipulator 41 to facilitate the fixing of the gripper cylinder 42 to the free end of the manipulator 41, but also the L-shaped plate 44 can be connected to the gripper cylinder through two different directions. 42 is fixedly connected, which can prevent the clamping jaw cylinder 42 from loosening in two different directions at the same time, which is beneficial to ensure the stability of the connection between the L-shaped plate 44 and the clamping jaw cylinder 42, so that the mechanical arm 41 can control the clamping jaw cylinder 42. And the brush 46 moves stably.

The outer side of the side plate is provided with a rotating rod, and the free end of the mechanical arm 41 is provided with a flange bearing 45 matching the rotating rod. The flange bearing 45 can be installed on the free end of the mechanical arm 41 through the screw holes on the flange bearing 45 , and the L-shaped plate 44 and the gripper cylinder 42 can be rotated and connected to the mechanical arm 41 through the rotating rod and the flange bearing 45 . .

The bottom plate is connected with the clamping jaw cylinder 42 by bolts, and the side plate is connected with the clamping jaw cylinder 42 by bolts; the top surface of the side plate is flush with the top of the clamping jaw cylinder 42 or the top surface of the side plate is lower than the clamping jaw cylinder 42. In this way, not only a suitable position can be vacated for the staff to fasten the bolts of the flange bearing 45, but also an appropriate gap can be vacated for the staff to add lubricant to the rotating rod, which is beneficial to ensure the rotating rod and the flange bearing 45. smoothness of rotation.

Further, in this embodiment, please refer to FIG. 9-FIG. 13 , the egg liquid storage device 5 is also included, and the control system controls the mechanical arm 41 to drive the brush 46 clamping mechanism to drive the brush 46 to move into the egg liquid storage device 5. Dip in egg wash and then brush the moon cake on tray 11 with egg wash. Because the brush 46 must dip the egg liquid in the egg liquid storage device 5 every time before brushing the egg liquid on the moon cakes on the tray 11, the process of dipping the egg liquid with the brush 46 is also included in the brush 46 brushing the egg liquid. During the process, and the initial position point of the brush 46 is located just above the egg liquid storage device 5, the mechanical arm 41 controls the brush 46 clamping mechanism to drive the brush 46 to dip the egg liquid in the same movement mode, and dip the egg liquid every time. The required time is basically the same, which is convenient for the control system to calculate the total moving path and the corresponding moving speed of the two processes of dipping the brush 46 in the egg liquid and brushing the egg liquid.

Further, in this embodiment, the egg liquid storage device 5 includes a liquid storage tank 51 and an egg liquid scraping rod 512 , and the egg liquid scraping rod 512 is erected in the liquid storage tank 51 . When the brush 46 is gripped by the brush 46 clamping mechanism and stretched into the liquid storage tank 51 to dip the egg liquid, the brush 46 can be scraped back and forth on the egg scraping rod 512 several times, which can effectively control the amount of egg liquid on the brush 46. , while avoiding spilling excess egg liquid on the outer wall of the liquid storage tank 51 . Also, because the brush 46 has to scrape back and forth several times through the egg scraping rod 512 after dipping the egg liquid in the egg liquid storage device 5, the process of scraping the egg liquid by the brush 46 will also be included in the brush 46 to brush eggs. During the cleaning process, the mechanical arm 41 controls the brush 46 clamping mechanism to drive the brush 46 to scrape the egg liquid in the same motion. The time required for each scraping of the egg liquid is basically the same, which is convenient for the control system to calculate that the brush 46 is dipped in the egg liquid. -The total moving path and the corresponding moving speed of the three processes of egg scraping and egg brushing.

More specifically, a liquid level sensor is installed in the liquid storage tank 51. The liquid level sensor is used to detect the liquid level height in the liquid storage tank 51. The liquid level sensor can be connected to a warning system, and the liquid level sensor detects the liquid level in the liquid storage tank 51 in real time. When the liquid level of the egg liquid drops to a certain height, the liquid level sensor can output a signal and transmit it to the warning system to remind the staff to replenish the egg liquid or replace the new egg liquid in time.

There are at least two liquid storage tanks 51 , and the two liquid storage tanks 51 are arranged on the support frame 53 in parallel. Because when the robot controls the brush 46 to brush the egg liquid on the moon cakes on the conveying line 1, the egg liquid in the liquid storage tank 51 will gradually decrease, and one liquid storage tank 51 cannot guarantee that the egg liquid brushing can continue; The liquid operation can continue. When the liquid level sensor detects that the liquid level of the egg liquid in the first liquid storage tank 51 is too low, the liquid level sensor can output a signal to the robot, so that the robot controls the brush 46 to switch to the second liquid storage tank. The tank 51 is brushed with egg liquid, which not only facilitates the robot to control the brush 46 to continuously brush the egg liquid on the moon cakes on the conveyor line 1, but also allows time for the staff to replenish the first liquid storage tank 51 in time. New egg liquid or replace with new egg liquid.

The egg scraping rod 512 is disposed near the top edge of the liquid storage tank 51 . Since the brush 46 needs to scrape off excess egg liquid through the egg scraping rod 512, the liquid level of the egg liquid in the liquid storage tank 51 needs to be lower than the egg liquid scraping rod 512, and the liquid level of the egg liquid needs to be the same as the egg liquid scraping rod. 512 is kept at a distance to prevent the brush 46 from getting new egg liquid when scraping the egg liquid. The egg scraping rod 512 is preferably set close to the top edge of the liquid storage tank 51, which can not only ensure that the brush 46 can normally use the egg scraping rod 512 to scrape the egg liquid, but also ensure that the liquid storage tank 51 can have sufficient space for storage. Egg liquid can effectively reduce the number of egg liquid replenishment or egg replacement.

Wherein, there are at least two egg scraping rods 512, and the egg scraping rods 512 are arranged on the liquid storage tank 51 in parallel. Due to the long-term operation, the egg scraping rod 512 is easily stained with part of the egg liquid and cannot be dripped back into the liquid storage tank 51 again. This part of the egg liquid is easily affected by the external temperature and solidifies and sticks to the egg scraping liquid rod 512. . In order to reduce the brush 46 from being stained with the solidified egg liquid, a plurality of egg scraping rods 512 can be provided. At regular intervals, the robot can move and replace the brush 46 with another egg scraping rod 512 for scraping the egg liquid. deal with.

The egg scraping rod 512 is detachably connected to the liquid storage tank 51 . The egg scraping liquid rod 512 and the liquid storage tank 51 can be connected by a buckle, and the two side walls of the liquid storage tank 51 are provided with a matching slot for the egg scraping liquid rod 512. By connecting the two ends of the egg scraping liquid rod 512 The egg scraping rod 512 is installed on the liquid storage tank 51 by being buckled in the card slots on both sides respectively; the two ends of the egg scraping liquid rod 512 can also be fixedly installed on the liquid storage tank 51 by bolts. Due to the long-term operation, the egg scraping rod 512 is easily stained with part of the egg liquid and cannot be dripped back into the liquid storage tank 51 again, and this part of the egg liquid is easily affected by the external temperature and solidifies and sticks to the egg scraping liquid rod 512. superior. The detachable egg scraping rod 512 can facilitate the staff to remove the egg scraping rod 512 from the liquid storage tank 51 so that the staff can clean the egg liquid on the egg scraping rod 512 .

The surface of the egg scraping rod 512 is coated with an anti-stick layer. The setting of the anti-stick layer can make the egg liquid not easy to stick to the egg scraping rod 512, which can not only reduce the egg liquid remaining on the egg scraping rod 512, ensure that the brush 46 can scrape the egg liquid normally, but also make the scraping The excess egg liquid on the egg liquid rod 512 is returned to the liquid storage tank 51 again, so as to prevent the egg liquid from solidifying and sticking on the egg liquid scraping rod 512 and causing the egg liquid to be wasted.

Further, in this embodiment, the egg liquid storage device 5 further includes a refrigeration tank 52, and the liquid storage tank 51 is placed in the refrigeration tank 52; There is a water channel, the heat conduction plate 56 is provided with a cold water inlet and a cold water outlet, and the heat conduction plate 56 is connected to the water-cooled refrigerator through the cold water inlet and the cold water outlet; Through the cold water inlet and the cold water outlet, flowing cold water can be continuously introduced into the heat conduction plate 56, so that the heat conduction plate 56 can continuously take away the heat of the refrigeration tank 52, and the refrigeration tank 52 can be refrigerated at a constant temperature, so that the storage tank located in the refrigeration tank 52 can be kept at a constant temperature. The liquid tank 51 is always in a constant temperature environment, which has a fresh-keeping effect on the egg liquid in the liquid storage tank 51, which is conducive to maintaining the freshness of the egg liquid.

More specifically, the heat-conducting plate 56 can be an aluminum plate, and using the aluminum plate as the heat-conducting plate 56 has the advantages of high thermal conductivity and low cost. Of course, the heat-conducting plate 56 can also be made of other heat-conducting materials, as long as it is ensured that the heat-conducting plate 56 and the cooling tank 52 can be connected in a heat-conducting manner for heat exchange. A single refrigeration tank 52 may be configured with two or more heat-conducting plates 56 , and the two heat-conducting plates 56 are evenly distributed at the bottom of the refrigeration tank 52 . A temperature sensor is installed in the liquid storage tank 51 . The temperature in the liquid storage tank 51 can be detected in real time through the temperature sensor, so that the staff can adjust the heat conduction plate 56 to have a suitable water inlet speed to adjust the effect of heat conduction and cooling, so that the liquid storage tank 51 can be in a suitable temperature environment, which is conducive to ensuring The freshness of the egg liquid in the liquid storage tank 51.

Among them, the egg liquid storage device 5 is installed on the support frame 53. In order to facilitate the mechanical arm 41 to control the brush 46 clamping mechanism to drive the brush 46 to dip in the egg liquid, the support frame 53 can be installed on the second support, and the support frame 53 is provided with There is an installation base, the drawer 531 is arranged on the installation base through the drawer guide rail 532 , and the liquid storage tank 51 , the refrigeration tank 52 and the heat conduction plate 56 are all arranged on the drawer 531 . By pulling the drawer 531 out of the installation base along the direction of the drawer guide rail 532 , it is convenient for the staff to remove the liquid storage tank 51 so as to replenish the liquid storage tank 51 with egg liquid or replace it with new egg liquid.

The support frame 53 is provided with a detection sensor 54 for detecting whether the drawer 531 is pulled out. The detection sensor 54 can be connected to a warning system, and the warning system is provided with a warning light. When the detection sensor 54 detects that the drawer 531 is pulled out, the detection sensor 54 outputs a signal to the warning system, and the warning system sends out an indication that the warning light flashes at intervals. The flashing light can remind the staff that the drawer 531 has been pulled out. When the detection sensor 54 detects that the drawer 531 has been pushed back to its original position, the detection sensor 54 outputs a signal to the warning system, and the warning system issues an indication that the warning light is always on. In order to remind the staff that the drawer 531 has returned to the original position; the setting of the detection sensor 54 can prevent the staff from pulling out the drawer 531 by mistake and affecting the normal operation of the egg wash.

The drawer 531 is provided with a first groove 533 ; the top peripheral edge of the refrigeration tank 52 extends outward to form a second retaining ring 521 , and the liquid storage tank 51 contacts the top of the first groove 533 through the second retaining ring 521 The top periphery of the liquid storage tank 51 extends outward to form a first retaining ring 511 , and the liquid storage tank 51 contacts against the top of the second retaining ring 521 through the first retaining ring 511 . Through the first retaining ring 511, not only can the liquid storage tank 51 be placed in the refrigeration tank 52, but also the liquid storage tank 51 can be quickly detached from the refrigeration tank 52 by directly lifting it, so that the staff can quickly replace the liquid storage tank 51 When supplementing or replacing egg liquid. Through the second retaining ring 521 , not only can the refrigeration tank 52 be placed in the first groove 533 of the drawer 531 , but also the refrigeration tank 52 can be quickly separated from the first groove 533 by directly lifting, so that the staff can The refrigeration tank 52 is cleaned or repaired.

The bottom of the first groove 533 is provided with a fixing member 55 , and the first end of the fixing member 55 is protruded with a first clamping member 551 ; the bottom of the refrigeration slot 52 is provided with a second clamping member 522 . The second end and the second clamping member 522 are provided with corresponding installation holes; the fixing member 55 and the second clamping member 522 are connected by bolts and the installation holes, so that the heat conducting plate 56 is installed on the first clamping member 551 and the second clamping member 522 between the clips 522 . By bolting the fixing member 55 and the second clamping member 522, not only can the heat-conducting plate 56 and the cooling tank 52 be quickly fixed into the first groove 533 at the same time, which is convenient for the staff to install the cooling tank 52 and the heat-conducting plate 56, but also can ensure The bottom surface of the refrigeration tank 52 and the top surface of the heat-conducting plate 56 can be in heat-conducting contact, so as to ensure that the refrigeration tank 52 and the heat-conducting plate 56 can sufficiently conduct heat and heat exchange. The fixing member 55 can be in the shape of a long strip, and a first clip 551 is protruded upward from the top of the first end of the fixing member 55 . The height of the first clip 551 and the height of the second clip 522 are both equal to the heat conduction. The thickness of the plate 56, and the distance between the first clip 551 and the second clip 522 is slightly smaller than the width of the heat conduction plate 56, so that the heat conduction plate 56 can be easily clipped on the first clip 551 and the second clip between 522.

Further, in this embodiment, please refer to FIG. 14 , a correcting device 6 for correcting the position of the tray 11 on the conveying line 1 is further included. The correction device 6 includes a correction mechanism 61 and an induction sensor 62; both sides of the conveying line 1 are provided with a correction mechanism 61, and the correction mechanism 61 includes a telescopic cylinder 611 and a push plate 612, and the push plate 612 is connected with the piston rod of the telescopic cylinder 611; The two push plates 612 are arranged in parallel, and a correction area is formed between the two push plates 612 , and the sensing sensor 62 is used to detect whether the sensing tray 11 reaches the correction area. When the tray 11 on the conveyor line 1 flows through the inductive sensor 62, the inductive sensor 62 can be triggered, and the inductive sensor 62 can activate the telescopic cylinder 611. The clamping force on both sides enables the tray 11 to keep moving along the middle of the conveying line 1, so as to achieve the purpose of correcting the position of the tray 11 on the conveying line 1 during conveying, which is conducive to the subsequent operation of the moon cakes on the tray 11. Positioning processing.

More specifically, the telescopic cylinders 611 on both sides are cylinders of the same type, and the correction mechanisms 61 on both sides are symmetrically arranged, so that the push plates 612 on both sides are symmetrically arranged with respect to the center line of the conveying line 1; the inductive sensor 62 and the correction device 6 The control system of the correction device 6 is connected to the control system, and the control system of the correction device 6 controls the correction mechanism 61 on both sides to drive synchronously. The inductive sensor 62 can be a photoelectric sensor. When in use, when a tray 11 enters the correction area and flows through the inductive sensor 62, the tray 11 will block the inductive sensor 62 from receiving the signal from the emission source. At this time, the inductive sensor 62 can output a control signal to the control system, and then the control system activates the correcting mechanisms 61 on both sides synchronously so that the push plates 612 on both sides can push the tray 11 to the middle position of the conveying line 1, and then the telescopic cylinders 611 and the push plates 612 on both sides return to the original position When the next tray 11 enters the correction area and flows through the inductive sensor 62 , repeating the above steps can correct the position of each tray 11 on the conveying line 1 , so that the trays 11 are arranged neatly on the conveying line 1 .

Wherein, at least two correction mechanisms 61 are distributed on the same side of the conveying line 1, the push plate 612 is connected with a fixed plate 613, the fixed plate 613 is vertically connected with the push plate 612, and the fixed plate 613 is connected with the piston rod by bolts. The installation of the fixed plate 613 can provide the part where the push plate 612 is connected to the piston rod, and there is no need to drill holes and provide bolts on the surface of the push plate 612, which is beneficial to ensure the flatness of the surface of the push plate 612 and facilitates the better operation of the push plate 612. Push the tray 11 so that the tray 11 is neatly arranged on the conveyor line 1; the correcting mechanism 61 on the same side can use the same push plate 612, that is, the piston rods of the telescopic cylinders 611 on the same side are connected to the same push plate 612, which can effectively The surface area of the push plate 612 is increased, thereby effectively increasing the contact area between the push plate 612 and the tray 11 and the limit range of the push plate 612 to the tray 11. By synchronizing the activation of each correcting mechanism 61, the trays 11 can be quickly and neatly arranged in the conveying system. on line 1.

The inductive sensor 62 is disposed behind the correction mechanism 61 along the conveying direction of the conveying line 1 , and the distance between the inductive sensor 62 and the last correcting mechanism 61 in the conveying direction is 10 mm to 15 mm. In this way, the tray 11 will first pass through the correction area and then flow through the inductive sensor 62. When the tray 11 flows through the inductive sensor 62 and is detected and sensed, it means that the tray 11 has completely entered the correction area. The telescopic cylinder 611 activates a signal, so that the telescopic cylinder 611 moves the push plate 612 to correct the position of the tray 11 in the correction area.

The telescopic cylinder 611 is mounted on the support of the conveying line 1 through the mounting seat 63; the telescopic cylinder 611 is provided with a mounting seat 63, and the mounting seat 63 includes a first mounting plate 631 and a second mounting plate 632 that are vertically connected. The first mounting plate 631 is connected with the telescopic cylinder 611 through bolts, and the second mounting plate 632 is connected with the bracket of the conveying line 1 . The L-shaped mounting seat 63 enables the telescopic cylinder 611 to be stably installed on the support of the conveying line 1, which is beneficial to ensure that the telescopic cylinder 611 does not move when it is started, and ensures that the push plate 612 can correct the tray 11. Work properly. The second mounting plate 632 can be fixedly connected to the bracket of the conveying line 1 by welding, and the second mounting plate 632 can also be fixedly connected to the bracket of the conveying line 1 by bolts.

The specific working process of this embodiment:

(1) The tray 11 on which the moon cakes are placed is placed in the feeding area of the conveying line 1, sufficient egg liquid is added into the liquid storage tank 51, and the water-cooled refrigerator is started to supply cold water to the heat-conducting plate 56, so that the liquid storage tank 51 can be Keep the egg liquid fresh in a constant temperature environment;

(2) Starting the conveyor line 1 can continuously transport the trays 11 with moon cakes placed one by one, the encoder 23 can measure the rotational speed of the transmission shaft 22 through the runner 231 and the encoder 23 can measure the rotational speed of the transmission shaft 22 and convey it to the robot, The robot can obtain the conveying speed of the pallet 11 by processing the rotational speed data of the transmission shaft 22;

(3) When the tray 11 flows through the sensor, the induction sensor 62 can be triggered, and the induction sensor 62 can send a signal to the control system of the correction device 6. The control system of the correction device 6 can control the telescopic cylinders 611 on both sides of the conveying line 1 to push out the pusher at the same time. plate 612, so that the pallet 11 is subjected to clamping force from both sides, so that the pallet 11 can keep moving along the middle position of the conveying line 1;

(4) When the tray 11 enters the scanning area, the three-dimensional scanner can obtain the three-dimensional position information of the moon cake through three-dimensional visual scanning (specifically including the position data on the tray 11 where the moon cake is located and the height data of the moon cake itself), and the three-dimensional scanner will scan the moon cake. The three-dimensional position information is sent to the robot;

(5) The robot obtains the moving path and moving speed of the brush 46 for brushing the moon cakes on the tray 11 with egg wash by calculating and processing the three-dimensional position information of the moon cake, the conveying speed of the tray 11 and other data information;

(6) The robot starts the mechanical arm 41 through the obtained moving path and moving speed to control the gripping mechanism of the brush 46 to drive the brush 46 to move accordingly. The moon cakes on the tray 11 in the area are brushed with egg wash;

(7) The moon cakes on each tray 11 on the conveying line 1 can be treated with egg wash by repeating steps (3) to (6), so as to realize the fully mechanical automatic operation of brushing the moon cakes with egg wash.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, this application is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. a brushing egg liquid equipment is characterized in that, comprises conveying mechanism, position detection mechanism and brushing egg liquid mechanism; The conveying mechanism includes a conveying line and a speed detection device, the conveying line is used for conveying the trays on which the moon cakes are placed, and the trays on the conveying line pass through the position detection mechanism and the egg-washing mechanism in sequence; The speed detection device is used for detecting the conveying speed of the conveying line to the pallet; The position detection mechanism is used to visually scan the moon cakes on the tray and obtain the three-dimensional position information of the moon cakes; The egg-washing mechanism includes a robot and a brush, the brush is arranged at the movable end of the robot, and the speed detection device and the position detection mechanism are both signal-connected to the robot; The robot is used to obtain the moving path and moving speed of the brush to process the egg liquid on the moon cakes on the tray according to the conveying speed of the tray and the three-dimensional position information of the moon cakes and through data processing, and the robot is based on the obtained moving path and the moving speed. The moving speed controls the brushes to move accordingly so as to brush the mooncakes on the tray with egg wash. 2. egg brushing equipment according to claim 1, is characterized in that, described robot comprises control system, mechanical arm, brush clamping mechanism; Both the speed detection device and the position detection mechanism are signally connected to the control system, the control system is connected to the mechanical arm, and the brush clamping mechanism is rotatably connected to the mechanical arm. 3. The egg brushing device according to claim 2, further comprising an egg liquid storage device, wherein the control system controls the mechanical arm to drive the brush clamping mechanism to drive the brush to move to the egg. Dip the egg liquid in the liquid storage device and then brush the moon cakes on the tray with egg liquid. 4. The brushing egg liquid equipment according to claim 3, wherein the egg liquid storage device comprises a liquid storage tank and an egg scraping liquid rod, and the egg scraping liquid rod is set up in the liquid storage tank. 5. egg brushing equipment according to claim 4 is characterized in that, described egg liquid storage device also comprises refrigeration tank, and described liquid storage tank is placed in described refrigeration tank; The refrigerating tank is provided with a refrigerating component, the refrigerating component includes a heat conduction plate, a water channel is arranged inside the heat conduction plate, and the heat conduction plate is provided with a cold water inlet and a cold water outlet; the heat conduction plate is thermally connected to the refrigeration tank. 6. The egg brushing device according to claim 2, wherein the brush clamping mechanism comprises a gripper cylinder, and the gripper cylinder is rotatably connected with the free end of the mechanical arm; The two claw heads of the clamping claw cylinder are provided with facing groove pads; The two grooved pads are provided with opposite clamping grooves, and the two clamping grooves together form a clamping space matched with the brush. 7. egg brushing liquid equipment according to claim 1 is characterized in that, described speed detection device comprises encoder, connector and spring; The first end of the connecting piece is rotatably connected with the conveying bracket of the conveying line, and the encoder is mounted on the second end of the connecting piece; The first end of the spring is connected to the middle of the connecting piece, and the second end of the spring is connected to the delivery support; The connecting piece is arranged obliquely, and the spring is in a stretched state, so that the rotating wheel of the encoder is in rolling contact with the transmission shaft of the conveying line. 8 . The egg brushing device according to claim 1 , further comprising a correcting device for correcting the position of the tray on the conveying line. 9 . 9. egg brushing liquid equipment according to claim 8, is characterized in that, described correcting device comprises correcting mechanism and induction sensor; The correcting mechanism is provided on both sides of the conveying line, and the correcting mechanism includes a telescopic cylinder and a push plate, and the push plate is connected with the piston rod of the telescopic cylinder; The two push plates are arranged in parallel and a correction area is formed between the two push plates, and the induction sensor is used to detect whether the induction tray reaches the correction area. 10 . The egg brushing device according to claim 1 , wherein the position detection mechanism is a three-dimensional scanner. 11 .

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