CN115026857A

CN115026857A - Terminal centre gripping turning device of frame dress birds, beasts and eggs material loading manipulator

Info

Publication number: CN115026857A
Application number: CN202210669385.5A
Authority: CN
Inventors: 王树才; 雷杏子; 李传珍; 莫哲; 杨华建; 龚东军
Original assignee: Qingdao Jianhua Food Machinery Manufacture Co ltd; Huazhong Agricultural University
Current assignee: Qingdao Jianhua Food Machinery Manufacture Co ltd; Huazhong Agricultural University
Priority date: 2022-06-14
Filing date: 2022-06-14
Publication date: 2022-09-09
Anticipated expiration: 2042-06-14
Also published as: CN115026857B

Abstract

The invention relates to the technical field of egg processing, and discloses a clamping and overturning device for the tail end of a frame-loading egg feeding manipulator. This terminal centre gripping turning device of frame dress birds, drive first anchor clamps and the relative or back-to-back motion of second anchor clamps synchronous equidistance through drive assembly, thereby be convenient for carry out the centre gripping to the egg frame and loosen, drive arm and swing arm spatial motion through the manipulator, thereby be convenient for carry and shift egg frame fast laborsaving, it is rotatory around the arm of force to connect movable handle and swing arm through telescopic machanism and handle at last, and then carry out full-automatic material loading to the egg frame, or through telescopic machanism and handle selectivity disconnection, and it is rotatory around the arm of force to drive the swing arm through manual control handle, thereby be convenient for the upset acceleration and the speed of empting of accurate control egg frame, and then reduce the birds, beasts and eggs in the egg frame and empty the breakage rate of in-process, reach the effect of simple and convenient selectivity semi-automatic or full-automatic material loading.

Description

Terminal centre gripping turning device of frame dress birds, beasts and eggs material loading manipulator

Technical Field

The invention relates to the technical field of egg processing, in particular to a clamping and overturning device for the tail end of a frame-mounted egg feeding manipulator.

Background

Most of processing of poultry egg by-products realizes automated assembly line production, in the processing process of the poultry egg automated production assembly line, the poultry egg feeding at the starting point of the assembly line is a very critical link, the efficiency of the poultry egg feeding determines the efficiency of the whole processing production assembly line, a certain working efficiency is ensured in the feeding process, meanwhile, the damage rate of the poultry egg is controlled within a certain range, the number of the poultry eggs contained in the frame-packed poultry egg is more than that of the poultry eggs contained in a common egg supporting plate, and the poultry egg feeding method of the frame-packed poultry egg is widely implemented by firstly pouring the poultry eggs into water and conveying the poultry eggs from a water pool to the processing production assembly line by a conveyor belt.

The feeding method adopted on the egg production line can be divided into manual feeding, robot feeding and the like according to the degree of automation, wherein the manual feeding can effectively ensure the egg breakage rate, but the manual carrying of the egg frame requires great effort, and meanwhile, the angle of the egg frame needs to be properly turned over and the rate of the eggs poured out of the egg frame is controlled, so that the manual labor intensity is high, and the feeding efficiency is low; the robot feeding is full-automatic feeding, the feeding efficiency is high, but due to the fact that the gravity centers of eggs in different egg frames are distributed differently, acceleration of adjustment of the dumping angle is difficult to control according to the actual dumping rate of the eggs in the egg dumping process, and accordingly breakage rate caused by the acceleration is difficult to estimate, and the working stability is poor, so that the clamping and overturning device for the tail end of the frame-loading egg feeding manipulator is provided to solve the problems.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a clamping and overturning device at the tail end of a frame-loading egg feeding manipulator, which has the advantages of selective semi-automatic or full-automatic overturning and feeding and the like, and solves the problems that the feeding mode adopted on an egg production line can be divided into manual feeding, robot feeding and the like according to the degree of automation, wherein the manual feeding can effectively ensure the egg breakage rate, but the great labor is required for manually moving the egg frame, and meanwhile, the angle of the egg frame needs to be properly turned and the pouring speed of the eggs from the frame is controlled, so that the manual labor intensity is high, and the feeding efficiency is low; the robot feeding is full-automatic feeding, the feeding efficiency is high, but due to different gravity center distribution of eggs in different egg frames, the acceleration of the adjustment of the dumping angle is difficult to control according to the actual dumping rate of the eggs in the dumping process of the eggs, so that the damage rate is difficult to estimate, and the working stability is poor.

(II) technical scheme

In order to realize the purpose of selectively semi-automatically or fully-automatically turning and feeding, the invention provides the following technical scheme: the utility model provides a terminal centre gripping turning device of frame dress birds, is including setting up in the arm of force of manipulator end, and articulated on the arm of force have a swing arm, and it is provided with first anchor clamps and second anchor clamps to slide along same straight line on the swing arm, is provided with the drive assembly who is used for synchronous equidistance drive first anchor clamps and second anchor clamps to move relatively or back on the back in the swing arm, is provided with the handle that is used for adjusting swing arm and arm of force rotation angle on the swing arm, is provided with on the arm of force to be used for selectivity to be connected with the handle and drive the rotatory telescopic machanism of swing arm.

Preferably, the swing arm includes the round pin axle, the swinging boom, guide arm and guide block, the round pin axle sets up on the arm of force, the swinging boom sets up on selling the epaxial, the guide arm sets up on the swinging boom, the both sides that just are located the swinging boom on the guide arm all are provided with the guide block, first anchor clamps and second anchor clamps set up respectively with two guide blocks on, the draw-in groove that corresponds with the egg frame has all been seted up on first anchor clamps and the second anchor clamps, and the width of draw-in groove is less than the thickness of egg frame, two guide blocks are connected with two drive end transmission of drive assembly respectively, the handle sets up on the swinging boom.

Preferably, the guide rod comprises a guide part and a limiting part, the guide part is arranged on the rotating arm, the limiting part is arranged on the guide part, the guide block is arranged on the guide part in a sliding mode along the axis of the guide part and abuts against the limiting part, and the guide block is an open type linear bearing.

Preferably, the driving assembly comprises a first connecting rod, a second connecting rod, a connecting piece and a first linear driving mechanism, one ends of the first connecting rod and the second connecting rod are hinged to the connecting piece, one ends, far away from the connecting piece, of the first connecting rod and the second connecting rod are hinged to the first clamp and the second clamp respectively, and the first linear driving mechanism in transmission connection with the connecting piece is vertically arranged on the rotating arm and relative to the guide rod in the axial direction.

Preferably, the handle includes first arm section, second arm section and third arm section, and first arm section sets up on the swinging boom for round pin axle parallel, and the second arm section sets up perpendicularly in the one end of keeping away from the swinging boom in first arm section for first arm section, and the third arm section all sets up perpendicularly in the one end of keeping away from first arm section in the second arm section for first arm section and second arm section.

Preferably, the number of the first arm sections, the second arm sections and the third arm sections is two, the two first arm sections, the two second arm sections and the two third arm sections are distributed on two sides of the rotating arm in a mirror symmetry manner, and the distance between the two third arm sections is 650mm and 450-.

Preferably, the handle further comprises a positioning mechanism, the positioning mechanism is arranged on the second arm section and selectively abutted against the egg frame, and the positioning mechanism is used for positioning the distance between the handle and the egg frame.

Preferably, the positioning mechanism comprises a positioning plate, a first abutting surface, a second abutting surface and a third abutting surface, the positioning plate is arranged on the second arm section, the first abutting surface selectively abutting against the top of the egg frame is arranged on the positioning plate, the second abutting surface selectively abutting against the inner wall of the egg frame is arranged on the opposite side of the positioning plate, the third abutting surface selectively abutting against the inner wall of the egg frame is arranged on one side, away from the first clamp, of the positioning plate, and the third abutting surface and the second abutting surface are inclined planes in an inverted cone shape.

Preferably, telescopic machanism includes installation component and second linear drive mechanism, and second linear drive mechanism's one end is articulated with the arm of force, and the installation component sets up on the handle and keeps away from the one end selective connection of the arm of force with second linear drive mechanism.

Preferably, the mounting assembly comprises a fixing seat and a pin rod, the fixing seat is arranged on the handle, and the pin rod movably connected with the second linear driving mechanism is detachably arranged on the fixing seat.

(III) advantageous effects

Compared with the prior art, the invention provides a clamping and overturning device for the tail end of a frame-loading egg feeding manipulator, which has the following beneficial effects:

1. the first clamp and the second clamp are driven by the driving assembly to synchronously move oppositely or oppositely in an equidistance manner, so that an egg frame can be clamped and loosened conveniently, the power arm and the swing arm are driven by a manipulator to move in space, the egg frame can be transported and transferred quickly and laborsavingly, finally the movable handle and the swing arm are connected with the handle through the telescopic mechanism and the telescopic mechanism to rotate around the force arm, so that the egg frame is subjected to full-automatic feeding, or the telescopic mechanism is selectively disconnected with the handle, and the swing arm is driven by a manual control handle to rotate around the force arm, so that the overturning acceleration and the pouring speed of the egg frame can be controlled accurately, the breakage rate of eggs in the egg pouring process in the egg frame can be reduced, and the effect of simple, convenient and selective semi-automatic or full-automatic feeding can be achieved;

2. through the swing arm, the pin shaft is adopted, the rotating arm, the guide rod and the guide block are matched for use, the situation that the feeding efficiency and the breakage rate of the turnover device are influenced due to the fact that the first clamp and the second clamp shake in the relative or back-to-back motion process is avoided, the clamping groove in the first clamp and the second clamp are matched and clamped with the positioning hole in the egg frame, the clamping stability of the turnover device is further improved, the situation that the turnover device shakes in the turnover or transfer process to influence the feeding efficiency and the breakage rate of the turnover device is avoided, the width of the clamping groove is smaller than the thickness of the egg frame, the first clamp and the second clamp cannot exceed the groove of the egg frame hand grip to interfere with other adjacent egg frames when being clamped and fixed with the egg frame, axial straight line limiting and axial rotation limiting are carried out on the guide block through the guide part and the limiting part on the guide rod, and the situation that the driving assembly deforms to influence the feeding efficiency and the feeding efficiency of the turnover device due to the shaking in the egg frame transfer process is avoided The situation of breakage rate occurs, and the first connecting rod, the second connecting rod, the connecting piece and the first linear driving mechanism are matched for use through the driving assembly, so that the first clamp and the second clamp can be conveniently adjusted to move oppositely or back to back at high-precision synchronization and equidistance, and the situation that the feeding efficiency and the breakage rate of the turnover device are influenced due to unstable clamping of the first clamp and the second clamp on the egg frame is avoided;

3. the handle is matched with the first arm section, the second arm section and the third arm section, the lever principle is utilized to increase the distance between the third arm section of the force arm and the fulcrum pin shaft and change the stress position between the third arm section and the rotating arm, so that the turnover device is more convenient for a user to save labor in the turnover process, the two first arm sections, the second arm section and the third arm section are symmetrically distributed on the two sides of the rotating arm, the distance between the two third arm sections is 450 mm and 650mm, the turnover device more accords with the human mechanics, can rotate between the two third arm sections in a labor-saving way and cannot be influenced by a surrounding egg frame, the positioning mechanism on the second arm section is used for accurately positioning the egg frame, so that the first clamp and the second clamp on the swinging arm are conveniently and quickly and accurately aligned with the positioning hole on the egg frame, and finally the positioning plate and the first abutting face are adopted by the positioning mechanism, The second abutting surface and the third abutting surface are matched for use, and the third abutting surface and the second abutting surface are inclined surfaces, so that the second abutting surface and the third abutting surface are convenient for self-adaptively adjusting the positions of the positioning mechanism and the egg frame in the contact process of the positioning mechanism and the egg frame, and the effects of quick and accurate positioning and efficient feeding are realized.

Drawings

Fig. 1 is a front sectional view of an assembly structure of a tail end clamping and overturning device of a frame-loading poultry egg feeding manipulator and an egg frame, which is provided by the invention;

fig. 2 is a first perspective structure perspective view of a clamping and overturning device at the tail end of a frame-packed egg feeding manipulator according to the present invention;

fig. 3 is a second perspective view of the end clamping and turning device of the manipulator for loading frame-packed eggs according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, a clamping and turning device for the tail end of a frame-loading poultry egg feeding manipulator comprises a force arm 1 arranged at the tail end of the manipulator, wherein a swing arm 2 is hinged on the force arm 1, a first clamp 3 and a second clamp 4 are slidably mounted on the swing arm 2 along the same straight line, a driving assembly 5 is fixedly mounted on the swing arm 2, the driving assembly 5 is used for synchronously driving the first clamp 3 and the second clamp 4 to move oppositely or back to back at equal intervals, a handle 6 is fixedly mounted on the swing arm 2, the handle 6 is used for adjusting the rotation angle between the swing arm 2 and the force arm 1, a telescopic mechanism 7 used for selectively connecting with the handle 6 is arranged on the force arm 1, and the telescopic mechanism 7 is used for selectively driving the swing arm 2 to rotate around the force arm 1; drive first anchor clamps 3 and the relative or back-to-back motion of second anchor clamps 4 synchronous equidistance through drive assembly 5, thereby make this turning device be convenient for carry out the centre gripping location or loosen to the egg frame, and drive power arm 1 and swing arm 2 spatial motion and carry and shift the egg frame fast laborsaving through manipulator, connect driving handle 6 and swing arm 2 and revolve around the arm of force 1 through telescopic machanism 7 and handle 6 at last, and then carry out full-automatic material loading to the egg frame, or through telescopic machanism 7 and handle 6 selective disconnection, and drive swing arm 2 through artifical twist grip 6 and revolve around the arm of force 1, thereby be convenient for the upset direction of accurate control egg frame, upset acceleration and speed of empting, and then reduce the inside birds, beasts and eggs of egg frame and empty the breakage rate of in-process, reach the effect of simple convenient selective semi-automatic or full-automatic material loading.

Preferably, the swing arm 2 comprises a pin shaft 21, a rotating arm 22, a guide rod 23 and guide blocks 24, the pin shaft 21 is movably installed in the force arm 1, the rotating arm 22 is sleeved on the pin shaft 21, the guide rod 23 is fixedly installed on the rotating arm 22 along the horizontal direction, the guide blocks 24 are movably installed on the guide rod 23 and located on two sides of the rotating arm 22, the first clamp 3 and the second clamp 4 are respectively arranged on the two guide blocks 24, clamping grooves corresponding to the egg frame are respectively formed in the first clamp 3 and the second clamp 4, the cross sections of the first clamp 3 and the second clamp 4 are in a n-shaped ninety-degree structure, the width of each clamping groove is smaller than the thickness of the egg frame, the two guide blocks 24 are respectively in transmission connection with two driving ends of the driving assembly 5, and the handle 6 is fixedly installed on the rotating arm 22; the swing arm 2 is matched with the pin shaft 21, the rotating arm 22, the guide rod 23 and the guide block 24, so that the situation that the feeding efficiency and the breakage rate of the turnover device are influenced by the shaking in the relative or opposite movement process of the first clamp 3 and the second clamp 4 is avoided, and the clamping grooves on the first clamp 3 and the second clamp 4 are matched and clamped with the positioning holes on the egg frame, so that the clamping stability of the turnover device is further improved, and the situation that the feeding efficiency and the breakage rate of the turnover device are influenced by the shaking of the turnover device in the turnover or transfer process is avoided, the width of the clamping groove is smaller than the thickness of the egg frame, the clamp can be completely extended into the egg frame gripping groove and can not exceed the egg frame gripping groove to interfere with other adjacent egg frames, when the clamp is stressed reversely, the pressure angle of the mechanism is 90 degrees, and the mechanism is in a dead point state, so that the clamp is prevented from being separated from the egg frame gripper groove by external force.

Preferably, the guide rod 23 includes a guide portion 231 and a limit portion 232, the guide portion 231 is fixedly installed on the rotating arm 22 along the horizontal direction, the limit portion 232 is fixedly installed on the guide portion 231, the guide block 24 is axially slidably installed on the guide portion 231 along the guide portion 231 and is abutted against the limit portion 232, and the guide block 24 is an open linear bearing; carry out the spacing and the axial rotation of axial straight line to guide block 24 through guide part 231 and spacing portion 232 on the guide arm 23 spacing, avoid taking place to rock or lead to drive assembly 5 to warp and influence the condition emergence of this turning device material loading efficiency and breakage rate along guide part 231 axial rotation in the egg frame transfer process, adopt open type linear bearing through guide block 24 simultaneously, further reduce the sliding resistance between guide block 24 and the guide part 231 and improved material loading efficiency.

Preferably, the driving assembly 5 includes a first connecting rod 51, a second connecting rod 52, a connecting member 53 and a first linear driving mechanism 54, the first linear driving mechanism 54 is axially perpendicular to the guide rod 23 and is fixedly mounted on the rotating arm 22, the first linear driving mechanism 54 may be an air cylinder, a driving end of the first linear driving mechanism 54 is fixedly mounted with the connecting member 53, one ends of the first connecting rod 51 and the second connecting rod 52 are both hinged to the connecting member 53, one ends of the first connecting rod 51 and the second connecting rod 52, which are far away from the connecting member 53, are hinged to the first clamp 3 and the second clamp 4, respectively, and the lengths of the first connecting rod 51 and the second connecting rod 52 are equal; adopt first connecting rod 51, second connecting rod 52, connecting piece 53 and first linear drive mechanism 54 cooperation to use through drive assembly 5 to be convenient for high accuracy synchronous equidistance adjust first anchor clamps 3 and second anchor clamps 4 relative or back-to-back motion, avoid first anchor clamps 3 and second anchor clamps 4 to egg frame clamp unstability and influence the condition emergence of this turning device material loading efficiency and breakage rate.

In the above technical solution, the driving assembly 5 can adopt the first connecting rod 51, the second connecting rod 52, the connecting member 53 and the first linear driving mechanism 54 for use, and can also adopt the rotary cylinder or the motor for use in cooperation with the bidirectional screw and the sliding sleeve with the positive and negative teeth, as long as it is ensured that the first clamp 3 and the second clamp 4 can be driven in a linear synchronous equidistant manner or in a back-to-back manner.

Preferably, the handle 6 includes a first arm section 61, a second arm section 62 and a third arm section 63, the first arm section 61 is parallel to the pin 21 and is fixedly installed on the rotating arm 22, the second arm section 62 is perpendicular to and horizontally and is fixedly installed on one end of the first arm section 61 far away from the rotating arm 22 relative to the first arm section 61, and the third arm section 63 is vertically and fixedly installed on one end of the second arm section 62 far away from the first arm section 61; the position between the third arm section 63 and the rotating arm 22 is changed by matching the first arm section 61 on the handle 6 with the second arm section 62, the distance between the third arm section 63 and the fulcrum pin shaft 21 is increased by utilizing the lever principle, and the stress position between the third arm section 63 and the rotating arm 22 is changed, so that the turnover device is more convenient for a user to operate in a labor-saving manner in the turnover process.

Preferably, the number of the first arm section 61, the second arm section 62 and the third arm section 63 is two, the two first arm sections 61, the second arm sections 62 and the third arm section 63 are distributed in mirror symmetry on two sides of the rotating arm 22, and the distance between the two third arm sections 63 is 650 mm; through two first arm sections 61, second arm section 62 and third arm section 63 be the symmetric distribution in swinging boom 22 both sides, and the interval between two third arm sections is 450 supplyes 650mm, and then make this turning device accord with human mechanics more and carry out laborsaving formula rotation and overturn and topple over the egg frame between two third arm sections 63, handle 6 can not receive the influence of egg frame on every side when operating a certain egg frame in multilayer multirow multiseriate egg frame.

Preferably, the handle 6 further comprises a positioning mechanism 64, the positioning mechanism 64 is arranged on the second arm section 62 and selectively abuts against the egg frame, and the positioning mechanism 64 is used for positioning the distance between the handle 6 and the egg frame; carry out accurate location through positioning mechanism 64 on the second arm section 62 with the egg frame to make first anchor clamps 3 and second anchor clamps 4 on the swing arm 2 be convenient for quick accurate with the positioning hole alignment on the egg frame.

Preferably, the positioning mechanism 64 includes a positioning plate 641, a first abutting surface 642, a second abutting surface 643 and a third abutting surface 644, the positioning plate 641 is fixedly mounted on the second arm section 62, the positioning plate 641 is provided with the first abutting surface 642 selectively abutting against the top of the egg frame, the opposite side of the positioning plate 641 is provided with the second abutting surface 643 selectively abutting against the left side and the right side of the inner wall of the egg frame, one side of the positioning plate 641 away from the first fixture 3 is provided with the third abutting surface 644 selectively abutting against the front side or the rear side of the inner wall of the egg frame, and both the third abutting surface 644 and the second abutting surface 643 are inclined surfaces with an inverted cone shape; by using the positioning plate 641, the first abutting surface 642, the second abutting surface 643 and the third abutting surface 644 on the positioning mechanism 64 in cooperation, and the third abutting surface 644 and the second abutting surface 643 are both inverted conical inclined surfaces, so that the second supporting surface 643 respectively slidably supports the left side and the right side of the inner wall of the egg frame during the contact process between the positioning mechanism 64 and the egg frame, the third supporting surface 644 slidably supports the front side or the rear side of the inner wall of the egg frame, thereby preliminarily adjusting the horizontal positions between the first clamp 3 and the second clamp 4 and the egg frame, and limiting the height positions between the first clamp 3 and the second clamp 4 and the egg frame through the abutting of the first abutting surface 642 and the top of the egg frame, and then be convenient for self-adaptation carry out self-adaptation regulation and location to the position of positioning mechanism 64 and egg frame, realize the effect of the position and the high-efficient material loading between first anchor clamps 3 and second anchor clamps 4 and the egg frame of quick accurate location.

In the above technical solution, the positioning mechanism 64 employs a positioning plate 641, a first abutting surface 642, a second abutting surface 643 and a third abutting surface 644 for use in cooperation, and the third abutting surface 644 and the second abutting surface 643 are both inverted conical inclined surfaces and used for alignment, and a positioning column may also be employed for use in cooperation with the positioning hole, as long as it is ensured that the first fixture 3 and the second fixture 4 can be quickly aligned with the positioning hole on the egg frame accurately.

Preferably, the telescopic mechanism 7 includes a mounting assembly 71 and a second linear driving mechanism 72, one end of the second linear driving mechanism 72 is hinged to the force arm 1, the mounting assembly 71 is fixedly mounted on the handle 6 and selectively connected with one end of the second linear driving mechanism 72 far from the force arm 1, a snap ring is fixedly mounted on the force arm 1, when the mounting assembly 71 is selectively disconnected from the second linear driving mechanism 72, the snap ring is used for limiting the second linear driving mechanism 72 and the force arm 1 and preventing the second linear driving mechanism 72 from rotating, and the second linear driving mechanism 72 can be an air cylinder; the mounting assembly 71 is selectively disconnected from the second linear driving mechanism 72, so that the semi-automatic feeding effect can be realized through the handle 6, the breakage rate can be reduced, the mounting assembly 71 is selectively connected with the second linear driving mechanism 72, the full-automatic handle 6 can be controlled conveniently, the full-automatic labor-saving feeding effect can be realized, the turnover device can be turned over and toppled over according to eggs of different processing procedures, such as cooked eggs or raw eggs, and the application range, the feeding efficiency, the breakage rate and the like of the turnover device are further improved.

Preferably, the mounting assembly 71 comprises a fixing seat 711 and a pin rod 712, the fixing seat 711 is fixedly mounted on the handle 6, and the pin rod 712 movably connected with the second linear driving mechanism 72 is detachably riveted on the fixing seat 711; the pin rod 712 is detachably connected with the fixed seat 711, so that the turnover device can be adjusted conveniently to realize the effect of manual turnover or automatic turnover.

One end of the second linear driving mechanism 72 is hinged to the force arm 1, the other end of the second linear driving mechanism 72 is detachably connected with the handle 6 through the fixing seat 711 and the pin rod 712, one end of the second linear driving mechanism 72 can also be hinged to the handle 6, the other end of the second linear driving mechanism 72 is selectively locked with the force arm 1 through the sliding block and the guide rail matched with the locking nut, and the second linear driving mechanism 72 can selectively move freely relative to the handle 6 or the force arm 1.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a terminal centre gripping turning device of frame dress birds, beasts and eggs material loading manipulator, is including setting up in the terminal arm of force (1) of manipulator, its characterized in that: articulated on arm of force (1) have swing arm (2), it is provided with first anchor clamps (3) and second anchor clamps (4) to slide along same straight line on swing arm (2), be provided with on swing arm (2) and be used for synchronous equidistance drive first anchor clamps (3) and second anchor clamps (4) relative or back-to-back motion drive assembly (5), be provided with on swing arm (2) and be used for adjusting swing arm (2) and arm of force (1) rotation angle handle (6), be provided with on arm of force (1) and be used for selectivity and be connected and drive swing arm (2) rotatory telescopic machanism (7) with handle (6).

2. The terminal clamping and turning device of a frame-packed egg feeding manipulator according to claim 1, characterized in that: swing arm (2) are including round pin axle (21), swinging boom (22), guide arm (23) and guide block (24), round pin axle (21) sets up on arm of force (1), swinging boom (22) sets up on round pin axle (21), guide arm (23) set up on swinging boom (22), the both sides that just are located swinging boom (22) on guide arm (23) all are provided with guide block (24), first anchor clamps (3) and second anchor clamps (4) set up respectively on two guide block (24), all set up the draw-in groove that corresponds with the egg frame on first anchor clamps (3) and second anchor clamps (4), and the width of draw-in groove is less than the thickness of egg frame, two guide block (24) are connected with two drive end transmission of drive assembly (5) respectively, handle (6) set up on swinging boom (22).

3. The terminal clamping and turning device of a frame-packed egg feeding manipulator according to claim 2, characterized in that: the guide rod (23) comprises a guide part (231) and a limiting part (232), the guide part (231) is horizontally arranged on the rotating arm (22), the limiting part (232) is arranged on the guide part (231), the guide block (24) is arranged on the guide part (231) in a sliding mode along the axis of the guide part (231) and is abutted against the limiting part (232), and the guide block (24) is an open linear bearing.

4. The terminal clamping and turning device of a frame-packed egg feeding manipulator according to claim 2, characterized in that: the driving assembly (5) comprises a first connecting rod (51), a second connecting rod (52), a connecting piece (53) and a first linear driving mechanism (54), one ends of the first connecting rod (51) and the second connecting rod (52) are hinged to the connecting piece (53), one ends, far away from the connecting piece (53), of the first connecting rod (51) and the second connecting rod (52) are hinged to the first clamp (3) and the second clamp (4) respectively, and the first linear driving mechanism (54) in transmission connection with the connecting piece (53) is vertically arranged on the rotating arm (22) and relative to the axial direction of the guide rod (23).

5. The terminal clamping and turning device of a frame-packed egg feeding manipulator according to claim 2, characterized in that: handle (6) include first arm section (61), second arm section (62) and third arm section (63), first arm section (61) set up on swinging boom (22) for round pin axle (21) parallel, second arm section (62) set up perpendicularly in the one end of swinging boom (22) is kept away from in first arm section (61) for first arm section (61), third arm section (63) all set up perpendicularly in the one end of first arm section (61) is kept away from in second arm section (62) for first arm section (61) and second arm section (62).

6. The terminal clamping and turning device of a frame-packed egg feeding manipulator according to claim 5, characterized in that: the number of the first arm sections (61), the second arm sections (62) and the third arm sections (63) is two, the two first arm sections (61), the second arm sections (62) and the third arm sections (63) are distributed on two sides of the rotating arm (22) in a mirror symmetry mode, and the distance between the two third arm sections (63) is 450-650 mm.

7. The terminal clamping and turning device of a frame-packed egg feeding manipulator according to claim 6, characterized in that: the handle (6) further comprises a positioning mechanism (64), the positioning mechanism (64) is arranged on the second arm section (62) and selectively abutted against the egg frame, and the positioning mechanism (64) is used for positioning the distance between the handle (6) and the egg frame.

8. A frame-mounted egg feeding manipulator end gripping and turning device as claimed in claim 7, wherein: the positioning mechanism (64) comprises a positioning plate (641), a first abutting surface (642), a second abutting surface (643) and a third abutting surface (644), the positioning plate (641) is arranged on the second arm section (62), the first abutting surface (642) selectively abutting against the top of the egg frame is arranged on the positioning plate (641), the second abutting surface (643) selectively abutting against the inner wall of the egg frame is arranged on the opposite side of the positioning plate (641), the third abutting surface (644) selectively abutting against the inner wall of the egg frame is arranged on the side, away from the first clamp (3), of the positioning plate (641), and the third abutting surface (644) and the second abutting surface (643) are inclined surfaces in an inverted cone shape.

9. The terminal clamping and turning device of a frame-packed egg feeding manipulator according to claim 1, characterized in that: the telescopic mechanism (7) comprises a mounting component (71) and a second linear driving mechanism (72), one end of the second linear driving mechanism (72) is hinged to the force arm (1), and the mounting component (71) is arranged on the handle (6) and is selectively connected with one end, far away from the force arm (1), of the second linear driving mechanism (72).

10. A frame-mounted egg feeding manipulator end gripping and turning device as claimed in claim 9, wherein: the mounting component (71) comprises a fixed seat (711) and a pin rod (712), the fixed seat (711) is arranged on the handle (6), and the pin rod (712) movably connected with the second linear driving mechanism (72) is detachably arranged on the fixed seat (711).