CN115026857B - Tail end clamping and overturning device of framed poultry egg feeding manipulator - Google Patents
Tail end clamping and overturning device of framed poultry egg feeding manipulator Download PDFInfo
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- CN115026857B CN115026857B CN202210669385.5A CN202210669385A CN115026857B CN 115026857 B CN115026857 B CN 115026857B CN 202210669385 A CN202210669385 A CN 202210669385A CN 115026857 B CN115026857 B CN 115026857B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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Abstract
The invention relates to the technical field of poultry egg processing, and discloses a clamping and overturning device for the tail end of a feeding manipulator for framing poultry eggs. This frame dress birds, beasts and eggs material loading manipulator terminal centre gripping turning device drives first anchor clamps and the synchronous equidistance of second anchor clamps and moves relatively or back to one side through drive assembly to be convenient for carry out centre gripping and loosen the egg frame, take power arm and swing arm spatial motion through the manipulator, thereby be convenient for carry and transfer the egg frame fast laborsaving, be connected through telescopic machanism and handle at last and drive handle and swing arm around the arm of force rotatory, and then carry out full-automatic material loading to the egg frame, perhaps through disconnecting telescopic machanism and handle selectivity, and drive the swing arm around the arm of force rotatory through manual control handle, thereby be convenient for accurate control egg frame's upset acceleration and dumping rate, and then reduce the breakage rate of egg in-process of dumping in the egg frame, reach the effect of simple and convenient semi-automatic or full-automatic material loading of selectivity.
Description
Technical Field
The invention relates to the technical field of poultry egg processing, in particular to a tail end clamping and overturning device of a feeding manipulator for framing poultry eggs.
Background
The processing of birds, beasts and eggs accessory ingredients has mostly all realized automated assembly line production, and in birds, beasts and eggs automated production assembly line course of working, birds, beasts and eggs material loading of assembly line start point department is the very key link, and the efficiency of whole processing production line has been decided to birds, beasts and eggs material loading, and the material loading process must guarantee certain work efficiency, also must guarantee that birds, beasts and eggs breakage rate control in certain scope simultaneously, and the frame dress birds, beasts and eggs are more than the birds, beasts and eggs that ordinary egg layer board held, and the material loading mode of frame dress birds, beasts and eggs at present widely adopts first pours birds, beasts and eggs into water to transport the birds, beasts and eggs from the pond to processing production line by the conveyer belt.
The feeding mode 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 breakage rate of eggs, but the manual lifting of egg frames needs to consume more force, meanwhile, the angle of the egg frames needs to be properly turned over, the pouring rate of eggs from the frames is controlled, the manual labor intensity is high, and the feeding efficiency is low; the robot material loading is full automatization material loading, and material loading is efficient, but because the focus distribution of birds, beasts and eggs in the different egg frames is different, is difficult to control the acceleration of inclination angle adjustment and then the damage rate that leads to according to birds, beasts and eggs actual dumping rate control dumping angle adjustment in-process is difficult to predict, and job stabilization nature is poor, so proposes a frame dress birds, beasts and eggs material loading manipulator terminal centre gripping turning device to solve above-mentioned problem.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides the tail end clamping and overturning device of the feeding manipulator for the framed eggs, which has the advantages of selective semiautomatic or full-automatic overturning and feeding, and the like, and solves the problems that the feeding mode adopted on the production line of the eggs 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 breakage rate of the eggs, but the manual lifting of the egg frames needs to consume more force, meanwhile, the angle of the egg frames needs to be overturned properly and the pouring rate of the eggs from the frames needs to be controlled, the manual labor intensity is high, and the feeding efficiency is low; the robot material loading is full automatization material loading, and material loading is efficient, but because the focus distribution of birds, beasts and eggs in the different egg frames is different, the birds, beasts and eggs are difficult to according to birds, beasts and eggs actual rate control tilting angle adjustment's acceleration and then the damage rate that leads to is difficult to estimate, problem that job stabilization nature is poor in the birds, beasts and eggs are emptyd the in-process.
(II) technical scheme
In order to achieve the purpose of selectively and semi-automatically or fully-automatically overturning and feeding, the invention provides the following technical scheme: the tail end clamping and turning device of the frame-mounted poultry egg feeding manipulator comprises a force arm arranged at the tail end of the manipulator, a swing arm is hinged to the force arm, a first clamp and a second clamp are arranged on the swing arm in a sliding manner along the same straight line, a driving assembly for synchronously driving the first clamp and the second clamp to move relatively or reversely at equal intervals is arranged on the swing arm, a handle for adjusting the rotation angle of the swing arm and the force arm is arranged on the swing arm, and a telescopic mechanism for selectively connecting with the handle and driving the swing arm to rotate is arranged on the force arm.
Preferably, the swing arm includes round pin axle, swinging boom, guide arm and guide block, and the round pin axle sets up on the arm of force, and the swinging boom sets up on the round pin epaxial, and the guide arm sets up on the swinging boom, and the both sides that just lie in the swinging boom on the guide arm all are provided with the guide block, and first anchor clamps and second anchor clamps set up respectively on two guide blocks, all set up the draw-in groove that corresponds with egg frame on first anchor clamps and the second anchor clamps, and the width of draw-in groove is less than egg frame's thickness, and two guide blocks are connected with two drive end transmission of drive assembly respectively, and 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 manner along the axis of the guide part and abuts against the limiting part, and the guide block is an open 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 with the connecting piece, one ends of the first connecting rod and the second connecting rod, which are far away from the connecting piece, are respectively hinged with a first clamp and a second clamp, and the first linear driving mechanism which is connected with the connecting piece in a transmission way is vertically arranged on the rotating arm and axially opposite to the guide rod.
Preferably, the handle comprises a first arm section, a second arm section and a third arm section, wherein the first arm section is arranged on the rotating arm in parallel relative to the pin shaft, the second arm section is vertically arranged at one end of the first arm section far away from the rotating arm relative to the first arm section, and the third arm section is vertically arranged at one end of the second arm section far away from the first arm section relative to the first arm section and the 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 second arm sections and the third arm sections are distributed in mirror symmetry on two sides of the rotating arm, and the distance between the two third arm sections is 450-650mm.
Preferably, the handle further comprises a positioning mechanism, wherein the positioning mechanism is arranged on the second arm section and selectively abuts 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 supporting surface, a second supporting surface and a third supporting surface, the positioning plate is arranged on the second arm section, the positioning plate is provided with the first supporting surface selectively supporting against the top of the egg frame, the opposite side of the positioning plate is provided with the second supporting surface selectively supporting against the inner wall of the egg frame, one side of the positioning plate away from the first clamp is provided with the third supporting surface selectively supporting against the inner wall of the egg frame, and the third supporting surface and the second supporting surface are all inclined surfaces in reverse taper shapes.
Preferably, the telescopic mechanism comprises a mounting assembly and a second linear driving mechanism, one end of the second linear driving mechanism is hinged with the force arm, and the mounting assembly is arranged on the handle and selectively connected with one end, far away from the force arm, of the second linear driving 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) beneficial effects
Compared with the prior art, the invention provides the tail end clamping and overturning device of the feeding manipulator for the framed eggs, which has the following beneficial effects:
1. the first clamp and the second clamp are driven to synchronously move relatively at equal intervals or back to back through the driving assembly, so that egg frames can be conveniently clamped and loosened, the mechanical arm is used for carrying and transferring the egg frames in a labor-saving manner, finally, the telescopic mechanism is connected with the handle to drive the handle and the swing arm to rotate around the arm of force, so that full-automatic feeding is performed on the egg frames, or the telescopic mechanism is selectively disconnected with the handle and the swing arm is driven to rotate around the arm of force through the manual control handle, so that the overturning acceleration and the dumping rate of the egg frames can be conveniently and accurately controlled, the breakage rate of the egg frames in the dumping process can be reduced, and the effects of simplicity, convenience, selectivity and semiautomatic or full-automatic feeding can be achieved;
2. the swing arm is matched with the pin shaft, the rotating arm, the guide rod and the guide block to be used, so that the situation that the feeding efficiency and the breakage rate of the turnover device are affected due to shaking in the relative or opposite movement process of the first clamp and the second clamp is avoided, the clamping stability of the turnover device is further improved through the clamping connection between the clamping grooves on the first clamp and the second clamp and the positioning holes on the egg frame, the situation that the feeding efficiency and the breakage rate of the turnover device are affected due to shaking in the turnover or transfer process of the turnover device is avoided, the width of the clamping grooves is smaller than the thickness of the egg frame, the situation that the clamping grooves are not beyond the outer interference of the clamping grooves of the clamping hands of the egg frame to other adjacent egg frames is avoided, the situation that the feeding efficiency and the breakage rate of the turnover device are affected due to shaking in the transfer process of the egg frame is avoided, the fact that the driving assembly is deformed is avoided, the first connecting rod, the second connecting rod, the connecting piece and the first linear driving mechanism are matched to be used, and the fact that the clamping precision of the first clamp and the second clamp is convenient to be adjusted relatively to the second clamp is not affected by the fact that the clamping precision of the first clamp and the opposite movement of the egg frame is not affected by the clamping device is avoided, and the situation that the opposite movement of the clamping efficiency and the second clamp is stable to the opposite movement of the egg frame is avoided;
3. the first arm section, the second arm section and the third arm section are matched for use through the handle, the distance between the third arm section and the pivot pin is increased by utilizing the lever principle, the stress position between the third arm section and the pivot pin is changed, the turnover device is more convenient for a user to operate in a labor-saving manner in the turnover process, the two first arm sections, the second arm section and the third arm section are symmetrically distributed on two sides of the rotating arm, the distance between the two third arm sections is 450-650mm, the labor-saving rotation is carried out between the two third arm sections more in accordance with human mechanics, the influence of surrounding egg frames is avoided, the positioning mechanism on the second arm section and the egg frames are used for carrying out accurate positioning, so that the first clamp and the second clamp on the swing arm are convenient for be aligned with the positioning holes on the egg frames, and finally the positioning mechanism adopts the positioning plate, the first supporting surface, the second supporting surface and the third supporting surface to be matched for use, the third supporting surface and the second supporting surface are inclined surfaces, the positioning mechanism and the second supporting surface are convenient for carrying out accurate positioning with the egg frames in the contact process and the second supporting surface are convenient for realizing accurate positioning and self-adapting to the position.
Drawings
Fig. 1 is a front sectional view of a tail end clamping and turning device of a feeding manipulator for framing eggs and an egg frame assembly structure according to the present invention;
fig. 2 is a perspective view of a first view structure of a tail end clamping and turning device of a feeding manipulator for framed eggs, provided by the invention;
fig. 3 is a perspective view of a second view structure of a tail end clamping and turning device of a feeding manipulator for framed eggs.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, a clamping and turning device at the tail end of a feeding manipulator for framing eggs comprises a force arm 1 arranged at the tail end of the manipulator, wherein a swing arm 2 is hinged to the force arm 1, a first clamp 3 and a second clamp 4 are slidably arranged on the swing arm 2 along the same straight line, a driving assembly 5 is fixedly arranged on the swing arm 2, the driving assembly 5 is used for synchronously and equidistantly driving the first clamp 3 and the second clamp 4 to move relatively or reversely, a handle 6 is fixedly arranged 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 which is selectively connected 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; the first clamp 3 and the second clamp 4 are driven to synchronously move relatively at equal intervals or oppositely through the driving assembly 5, so that the turnover device is convenient to clamp and position or loosen an egg frame, the egg frame is conveyed and transferred through the space motion of the mechanical arm with the power arm 1 and the swing arm 2 and in a rapid and labor-saving mode, finally, the handle 6 and the swing arm 2 are driven to rotate around the arm 1 through the connection of the telescopic mechanism 7 and the handle 6, and then the egg frame is fully-automatically fed, or the telescopic mechanism 7 and the handle 6 are selectively disconnected, and the handle 6 is manually rotated and the swing arm 2 is driven to rotate around the arm 1, so that the turnover direction, turnover acceleration and dumping rate of the egg frame are accurately controlled, the breakage rate of the egg frame in the dumping process is reduced, and the effect of simple and convenient selective semi-automatic or full-automatic feeding is achieved.
Preferably, the swing arm 2 comprises a pin shaft 21, a swing arm 22, a guide rod 23 and guide blocks 24, the pin shaft 21 is movably arranged in the force arm 1, the swing arm 22 is sleeved on the pin shaft 21, the guide rod 23 is fixedly arranged on the swing arm 22 along the horizontal direction, the guide blocks 24 are movably arranged on the guide rod 23 and positioned on two sides of the swing arm 22, the first clamp 3 and the second clamp 4 are respectively arranged on the two guide blocks 24, clamping grooves corresponding to egg frames are respectively arranged on the first clamp 3 and the second clamp 4, the cross sections of the first clamp 3 and the second clamp 4 are of a ninety degree structure in a shape of a Chinese character 'ji', the width of the clamping grooves is smaller than the thickness of the egg frames, 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 arranged on the swing 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 condition that the feeding efficiency and the breakage rate of the turnover device are affected due to shaking in the relative or opposite movement process of the first clamp 3 and the second clamp 4 is avoided, the clamping stability of the turnover device is further improved due to the fact that the clamping grooves on the first clamp 3 and the second clamp 4 are matched with the positioning holes on the egg frame in a clamping manner, the condition that the turnover device shakes in the turnover or transfer process to affect the feeding efficiency and the breakage rate of the turnover device is avoided, the clamp can be fully stretched into the egg frame gripper groove through the width of the clamping groove to be smaller than the thickness of the egg frame, the clamp cannot be interfered to other adjacent egg frames beyond the egg frame gripper groove, and when the clamp is stressed reversely, the mechanism pressure angle is 90 degrees and is in a dead center state, so that the clamp is prevented from being separated from the egg frame gripper groove due to external force.
Preferably, the guide rod 23 comprises a guide part 231 and a limit part 232, the guide part 231 is fixedly arranged on the rotating arm 22 along the horizontal direction, the limit part 232 is fixedly arranged on the guide part 231, the guide block 24 is axially and slidably arranged on the guide part 231 along the guide part 231 and abuts against the limit part 232, and the guide block 24 is an open linear bearing; the guide block 24 is axially and linearly limited and axially rotated through the guide part 231 and the limiting part 232 on the guide rod 23, so that the situation that the feeding efficiency and the breakage rate of the turnover device are affected due to shaking or deformation of the driving assembly 5 caused by axial rotation of the guide part 231 in the egg frame transferring process is avoided, and meanwhile, the sliding resistance between the guide block 24 and the guide part 231 is further reduced and the feeding efficiency is improved by adopting an open type linear bearing through the guide block 24.
Preferably, the driving assembly 5 includes a first connecting rod 51, a second connecting rod 52, a connecting piece 53 and a first linear driving mechanism 54, the first linear driving mechanism 54 is axially vertical to the guide rod 23 and is fixedly mounted on the rotating arm 22, the first linear driving mechanism 54 may be a cylinder, the connecting piece 53 is fixedly mounted at the driving end of the first linear driving mechanism 54, one ends of the first connecting rod 51 and the second connecting rod 52 are hinged with the connecting piece 53, one ends of the first connecting rod 51 and the second connecting rod 52, which are far away from the connecting piece 53, are respectively hinged with the first clamp 3 and the second clamp 4, and the lengths of the first connecting rod 51 and the second connecting rod 52 are equal; the driving assembly 5 is matched with the first connecting rod 51, the second connecting rod 52, the connecting piece 53 and the first linear driving mechanism 54, so that the first clamp 3 and the second clamp 4 can be synchronously and equidistantly adjusted to move relatively or oppositely at high precision, and the situation that the feeding efficiency and the breakage rate of the turnover device are affected due to the fact that the first clamp 3 and the second clamp 4 are unstable in clamping egg frames is avoided.
In the above technical scheme, the driving assembly 5 can be matched with the first connecting rod 51, the second connecting rod 52, the connecting piece 53 and the first linear driving mechanism 54, and can also be matched with the bidirectional screw rod and the positive and negative tooth sliding sleeve by adopting a rotary cylinder or a motor, so long as the first clamp 3 and the second clamp 4 can be driven in opposite directions or opposite directions at equal intervals in a linear synchronous mode.
Preferably, the handle 6 comprises 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 shaft 21 and fixedly mounted on the rotating arm 22, the second arm section 62 is vertically and horizontally fixedly mounted on the 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 mounted on the end of the second arm section 62 far away from the first arm section 61; the first arm section 61 on the handle 6 is matched with the second arm section 62 to change the position between the third arm section 63 and the rotating arm 22, the distance between the third arm section 63 of the force arm and the fulcrum pin 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 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 in mirror symmetry on two sides of the rotating arm 22, and the space between the two third arm sections 63 is 450-650mm; the two first arm sections 61, the second arm sections 62 and the third arm sections 63 are symmetrically distributed on two sides of the rotary arm 22, and the distance between the two third arm sections is 450-650mm, so that the turnover device is more in line with the human mechanics to rotate the two third arm sections 63 in a labor-saving manner and turn over and tilt egg frames, and when one egg frame is operated in a plurality of layers of multi-row multi-column egg frames, the handle 6 is not affected by surrounding egg frames.
Preferably, the handle 6 further comprises a positioning mechanism 64, the positioning mechanism 64 is disposed on the second arm section 62 and selectively abuts against the egg frame, and the positioning mechanism 64 is used for positioning the space between the handle 6 and the egg frame; the positioning mechanism 64 on the second arm section 62 is used for accurately positioning the egg frame, so that the first clamp 3 and the second clamp 4 on the swing arm 2 are convenient to be aligned with the positioning holes on the egg frame rapidly and accurately.
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 clamp 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 the third abutting surface 644 and the second abutting surface 643 are all inclined surfaces in an inverted cone shape; through the cooperation of locating plate 641, first face 642, second face 643 and the third face 644 of supporting on the positioning mechanism 64, and third face 644 and second face 643 of supporting are the inclined plane of supporting of back taper, and then make positioning mechanism 64 and egg frame contact in-process second face 643 slide respectively to the inner wall left side and the right side of supporting of egg frame, the third face 644 of supporting carries out the slip to the inner wall front side or the rear side of egg frame and supports, thereby initially adjust the horizontal position between first anchor clamps 3 and second anchor clamps 4 and the egg frame, and support and inject the high position between first anchor clamps 3 and second anchor clamps 4 and the egg frame through first face 642 of supporting with the top of egg frame, and then the self-adaptation is carried out self-adaptation to the position of positioning mechanism 64 and egg frame and location of being convenient for, realize quick accurate location position and the effect of high-efficient material loading between first anchor clamps 3 and second anchor clamps 4 and the egg frame.
The positioning mechanism 64 in the above technical solution adopts the positioning plate 641, the first supporting surface 642, the second supporting surface 643 and the third supporting surface 644 to cooperate with each other, and the third supporting surface 644 and the second supporting surface 643 are inclined surfaces with inverted cone shapes and are used for pairing, and can also adopt the positioning column to cooperate with the positioning hole for use, so long as the first fixture 3 and the second fixture 4 are ensured to be aligned with the positioning Kong Jingzhun on the egg frame rapidly.
Preferably, 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 with the arm 1, the mounting component 71 is fixedly mounted on the handle 6 and selectively connected with one end of the second linear driving mechanism 72 far away from the arm 1, a clamping ring is fixedly mounted on the arm 1, and when the mounting component 71 is selectively disconnected with the second linear driving mechanism 72, the clamping ring is used for limiting the second linear driving mechanism 72 and the 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 component 71 is selectively disconnected with the second linear driving mechanism 72, so that the semi-automatic feeding effect is realized through the handle 6, the breakage rate is reduced, the mounting component 71 is selectively connected with the second linear driving mechanism 72, the full-automatic control handle 6 is convenient to select, the full-automatic labor-saving feeding effect is realized, the turning device is convenient to turn and topple over eggs according to 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 turning device are improved.
Preferably, the mounting assembly 71 comprises a fixing seat 711 and a pin 712, the fixing seat 711 is fixedly mounted on the handle 6, and the pin 712 movably connected with the second linear driving mechanism 72 is detachably riveted on the fixing seat 711; the pin 712 is detachably connected with the fixing seat 711, so that the turnover device can be conveniently adjusted to realize the effect of manual turnover or automatic turnover.
In the above technical solution, one end of the second linear driving mechanism 72 is hinged to the arm 1, the other end of the second linear driving mechanism 72 is detachably connected to the handle 6 through the fixing seat 711 and the pin 712, and one end of the second linear driving mechanism 72 may also be hinged to the handle 6, and the other end of the second linear driving mechanism 72 is selectively locked to the arm 1 through a slider and a guide rail matching lock nut, so long as it is ensured that one end of the second linear driving mechanism 72 can selectively move freely relative to the handle 6 or the arm 1.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The utility model provides a frame dress birds, beasts and eggs material loading manipulator terminal centre gripping turning device, includes to set up in the terminal arm of force (1) of manipulator, its characterized in that: the arm of force (1) is articulated with swing arm (2), is provided with first anchor clamps (3) and second anchor clamps (4) along same straight line slip on swing arm (2), is provided with on swing arm (2) and is used for synchronous equidistant drive first anchor clamps (3) and second anchor clamps (4) relative or drive subassembly (5) of back to back motion, is provided with on swing arm (2) and is used for adjusting swing arm (2) and arm of force (1) rotation angle's handle (6), is provided with on arm of force (1) and is used for selectively connecting and drive swing arm of force (2) rotatory telescopic machanism (7);
swing arm (2) are including round pin axle (21), swinging boom (22), guide arm (23) and guide block (24), round pin axle (21) set up on arm of force (1), swinging boom (22) set up on round pin axle (21), guide arm (23) set up on swinging boom (22), guide block (24) are all provided with on guide arm (23) and lie in the both sides of swinging boom (22), first anchor clamps (3) and second anchor clamps (4) set up respectively with two guide blocks (24) on, the draw-in groove that corresponds with egg frame is all offered on first anchor clamps (3) and the second anchor clamps (4), and the width of draw-in groove is less than the thickness of egg frame, the draw-in groove cooperates the joint with the locating hole on the egg frame, two guide blocks (24) are connected with two drive ends transmission of drive assembly (5) respectively, handle (6) are set up on swinging boom (22); the handle (6) comprises a first arm section (61), a second arm section (62) and a third arm section (63), wherein the first arm section (61) is arranged on the rotating arm (22) in parallel relative to the pin shaft (21), the second arm section (62) is vertically arranged at one end, far away from the rotating arm (22), of the first arm section (61) relative to the first arm section (61), and the third arm section (63) is vertically arranged at one end, far away from the first arm section (61), of the second arm section (62) relative to the first arm section (61) and the second arm section (62);
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;
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 positioning plate (641) is provided with the first abutting surface (642) which selectively abuts against the top of the egg frame, the opposite side of the positioning plate (641) is provided with the second abutting surface (643) which selectively abuts against the inner wall of the egg frame, one side of the positioning plate (641) far away from the first clamp (3) is provided with the third abutting surface (644) which selectively abuts against the inner wall of the egg frame, and the third abutting surface (644) and the second abutting surface (643) are all inclined surfaces in the shape of inverted cones;
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 with the connecting piece (53), one ends of the first connecting rod (51) and the second connecting rod (52) which are far away from the connecting piece (53) are respectively hinged with the first clamp (3) and the second clamp (4), and the first linear driving mechanism (54) which is in transmission connection with the connecting piece (53) is arranged on the rotating arm (22) and is perpendicular to the axial direction of the guide rod (23);
the telescopic mechanism (7) comprises a mounting assembly (71) and a second linear driving mechanism (72), one end of the second linear driving mechanism (72) is hinged with the arm of force (1), and the mounting assembly (71) is arranged on the handle (6) and is selectively connected with one end, far away from the arm of force (1), of the second linear driving mechanism (72);
the mounting assembly (71) comprises a fixing seat (711) and a pin (712), the fixing seat (711) is arranged on the handle (6), and the pin (712) movably connected with the second linear driving mechanism (72) is detachably arranged on the fixing seat (711).
2. A framed eggs feeding manipulator end gripping and turning device according to claim 1, wherein: 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 manner along the axis of the guide part (231) and abuts against the limiting part (232), and the guide block (24) is an open linear bearing.
3. A framed eggs feeding manipulator end gripping and turning device according to claim 1, wherein: 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 in mirror symmetry on two sides of the rotating arm (22), and the distance between the two third arm sections (63) is 450-650mm.
Priority Applications (1)
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| CN202210669385.5A CN115026857B (en) | 2022-06-14 | 2022-06-14 | Tail end clamping and overturning device of framed poultry egg feeding manipulator |
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| JP2723807B2 (en) * | 1994-08-31 | 1998-03-09 | 株式会社日本アルミ | Container reversal discharge device |
| CN105082124B (en) * | 2015-07-30 | 2017-07-07 | 重庆延锋安道拓汽车部件系统有限公司 | A kind of automobile chair frame transfer force aid system overturns gripping apparatus |
| CN205415596U (en) * | 2016-02-22 | 2016-08-03 | 郑州煤机综机设备有限公司 | Lifting mechanical arm |
| CN106003110A (en) * | 2016-06-07 | 2016-10-12 | 江苏八达电子有限公司 | Unloading hand in SC adapter automatic assembly device |
| CN109093610A (en) * | 2018-09-09 | 2018-12-28 | 肇庆高新区异星科技有限公司 | A kind of mechanical arm of educational robot |
| CN109616734B (en) * | 2018-12-26 | 2020-08-04 | 中国电子科技集团公司第二十研究所 | Radar antenna turnover device of simple pendulum hydraulic cylinder formula |
| CN109860973B (en) * | 2018-12-27 | 2020-09-22 | 中国电子科技集团公司第二十研究所 | Radar antenna turnover device of two flexible hydraulic cylinder formulas |
| CN210366794U (en) * | 2019-03-20 | 2020-04-21 | 创科（澳门离岸商业服务）有限公司 | Electric jack capable of switching between electric mode and manual mode |
| CN210939260U (en) * | 2019-10-22 | 2020-07-07 | 苏州雷恩斯自动化有限公司 | Column type hard arm manipulator |
| CN211415158U (en) * | 2019-12-23 | 2020-09-04 | 江阴市双平机械有限公司 | Power-assisted mechanical arm with clamp |
| CN213562625U (en) * | 2020-09-01 | 2021-06-29 | 苏州嘉米特自动化设备有限公司 | Front bumper assistance manipulator |
| CN214818591U (en) * | 2020-12-31 | 2021-11-23 | 中国第一汽车股份有限公司 | Flexible rear suspension clamping manipulator |
| CN215093598U (en) * | 2021-01-19 | 2021-12-10 | 东莞市鼎宸机械科技有限公司 | Material moving mechanical arm |
| CN113433220A (en) * | 2021-07-26 | 2021-09-24 | 西南民族大学 | Acoustic emission probe servo device |
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