CN202264222U - Automatic egg catching mechanical hand - Google Patents
Automatic egg catching mechanical hand Download PDFInfo
- Publication number
- CN202264222U CN202264222U CN2011203711187U CN201120371118U CN202264222U CN 202264222 U CN202264222 U CN 202264222U CN 2011203711187 U CN2011203711187 U CN 2011203711187U CN 201120371118 U CN201120371118 U CN 201120371118U CN 202264222 U CN202264222 U CN 202264222U
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- claw
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Abstract
The utility model discloses an automatic egg catching mechanical hand, which comprises a base, wherein the base is provided with an upright post; the upright post is provided with a motor I; an output shaft of the motor I is connected with a large bent plate provided with a horizontal cylinder; a cylinder rod of the horizontal cylinder is connected to the left of a fixing plate I; the right of the fixing plate I is provided with a motor II; a shaft of the motor II is connected with a small bent plate provided with a vertical cylinder; a cylinder rod of the vertical cylinder is provided with a fixing plate II; the fixing plate II is provided with a claw I control cylinder, a claw II control cylinder and a claw III control cylinder; cylinder rods of the claw I control cylinder, the claw II control cylinder and a claw III control cylinder are provided with claw mounting plates; control claws I, II and III are arranged on the claw mounting plates; an inner and outer sensor I is bonded to the inner and outer surfaces of the claw I; an inner and outer sensor II is bonded to the inner and outer surfaces of the claw II; and an inner and outer sensor III is bonded to the inner and outer surfaces of the claw III. The automatic egg catching mechanical hand saves manpower and improves work efficiency.
Description
Technical field
The utility model relates to robot device, relates in particular to a kind of egg manipulator of picking up automatically.
Background technology
In large-scale laying hen chicken farm, need pick up egg every day, and egg is made progress according to major part; Regular neat being placed in the egg holder that the microcephaly is downward needs manpower, the financial resources of labor, and this work repeatability is high; Physical demands is big; Efficient is low, presses for a kind of automation equipment and replaces this work, but can not pick up the mechanical device of egg automatically on the market.
Summary of the invention
The utility model is big to prior art labour intensity, and big, the ineffective problem of physical demands provides a kind of egg manipulator of picking up automatically; Save manpower, increase work efficiency.
To achieve these goals, the utility model adopts following technical scheme:
A kind of egg manipulator of picking up automatically comprises base, big bent plate, fixed plate I, little bent plate, vertical cylinder; Fixed plates II is held installing plate in hand, pawl I master cylinder, pawl II master cylinder, pawl III master cylinder, pawl I; Interior outer sensor I, interior outer sensor II, pawl II, interior outer sensor III, pawl III, bearing pin; Said base is provided with column, establishes motor I on the said column, and the output shaft of said motor I is connected with big bent plate; Said big bent plate is provided with horizontal air cylinder; The cylinder rod of said horizontal air cylinder is connected the left side of fixed plate I, and the right of said fixed plate I is provided with motor II, and the axle of said motor II is connected with little bent plate; Said little bent plate is provided with vertical cylinder; The cylinder rod of said vertical cylinder is provided with fixed plates II, and said fixed plates II is provided with pawl I control cylinder, pawl II control cylinder, pawl III control cylinder, is respectively equipped with the paw installing plate on the cylinder rod of said pawl I control cylinder, pawl II control cylinder, pawl III control cylinder; Be respectively equipped with control pawl I, pawl II, pawl III on the said paw installing plate; The interior outside gluing of said pawl I is connected to interior outer sensor I, and the interior outside gluing of said pawl II is connected to interior outer sensor II, and the interior outside gluing of said pawl III is connected to interior outer sensor III.
Said column bottom is welded on the base.
The axle of said motor I is connected with the big bent plate of fixing horizontal cylinder through bearing spindles.
Said horizontal air cylinder is through being bolted to the left side of fixed plate I.
Said vertical cylinder through be bolted to fixed plates II above.
The beneficial effect of the utility model: because the egg manipulator of picking up automatically of the present invention comprises base, big bent plate, fixed plate I, little bent plate; Vertical cylinder, fixed plates II is held installing plate in hand, pawl I master cylinder, pawl II master cylinder; Pawl III master cylinder, pawl I, interior outer sensor I, interior outer sensor II; Pawl II, interior outer sensor III, pawl III, bearing pin; Said base is provided with column, establishes motor I on the said column, and the output shaft of said motor I is connected with big bent plate; Said big bent plate is provided with horizontal air cylinder; The cylinder rod of said horizontal air cylinder is connected the left side of fixed plate I, and the right of said fixed plate I is provided with motor II, and the axle of said motor II is connected with little bent plate; Said little bent plate is provided with vertical cylinder; The cylinder rod of said vertical cylinder is provided with fixed plates II, and said fixed plates II is provided with pawl I control cylinder, pawl II control cylinder, pawl III control cylinder, is respectively equipped with the paw installing plate on the cylinder rod of said pawl I control cylinder, pawl II control cylinder, pawl III control cylinder; Be respectively equipped with control pawl I, pawl II, pawl III on the said paw installing plate; The interior outside gluing of said pawl I is connected to interior outer sensor I, and the interior outside gluing of said pawl II is connected to interior outer sensor II, and the interior outside gluing of said pawl III is connected to interior outer sensor III.When using, detect the position of egg by the outer sensor on three pawls; The rotation of three-way motor I main shaft realizes the circumferential movement of whole manipulator around column, through horizontal air cylinder and vertical cylinder flexible realize respectively manipulator in horizontal plane with vertical plane in stretching motion, arrive the egg position; Controlling the power of holding that adds of paw through the inner sensor of three pawls picks up egg; Measure the distance between every pair of paw simultaneously, compare the concentric reducer of egg, thereby the control motor II turns to; Realize the egg major part upwards, the microcephaly puts into pallet downwards.This invention can recognize the position of egg automatically it is picked up, and the concentric reducer that identifies egg is saved great amount of manpower, financial resources with its neat being placed in the pallet.
Description of drawings
Fig. 1 is the structural principle sketch map of the utility model;
Fig. 2 is a block diagram under the fixed plates II;
Fig. 3 is the left view sketch map of Fig. 2.
Among Fig. 1: 1, base, 2, column, 3, motor I, 4, horizontal air cylinder, 5, big bent plate, 6, fixed plate I; 7, motor II, 8, little bent plate, 9, vertical cylinder, 10, fixed plates II, 11, the paw installing plate; 12, pawl I control cylinder, 13, pawl II control cylinder, 14, pawl III control cylinder, 15, pawl I, 16, interior outer sensor I; 17, interior outer sensor II, 18, pawl II, 19, interior outer sensor III, 20, pawl III, 21, bearing pin.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
A kind of egg manipulator of picking up automatically, as shown in the figure, comprise base 1, big bent plate 5; Fixed plate I 6,7, little bent plate 8, vertical cylinder 9; Fixed plates II 10 is held installing plate 11 in hand, pawl I master cylinder 12, pawl II master cylinder 13; Pawl III master cylinder 14, pawl I15, interior outer sensor I16, interior outer sensor II17; Pawl II18, interior outer sensor III19, pawl III20, bearing pin 21; Said base 1 is provided with column 2, establishes motor I 3 on the said column 2, and the output shaft of said motor I 3 is connected with big bent plate 5, and said big bent plate 5 is provided with horizontal air cylinder 4; The cylinder rod of said horizontal air cylinder 4 is connected the left side of fixed plate I 6, and the right of said fixed plate I 6 is provided with motor II 7, and the axle of said motor II 7 is connected with little bent plate 8, and said little bent plate 8 is provided with vertical cylinder 9; The cylinder rod of said vertical cylinder 9 is provided with fixed plates II 10, and said fixed plates II 10 is provided with control cylinder 12, control cylinder 13, control cylinder 14, is respectively equipped with paw installing plate 11 on the cylinder rod of said control cylinder 12, control cylinder 13, control cylinder 14, is respectively equipped with control pawl I15, pawl II18, pawl III20 on the said paw installing plate 11; The interior outside gluing of said pawl I is connected to interior outer sensor I16, and the interior outside gluing of said pawl II18 is connected to interior outer sensor II17, and the interior outside gluing of said pawl III20 is connected to interior outer sensor III19.Column 2 bottoms are welded on the base 1.The axle of said motor I 3 is connected with the big bent plate 5 of fixing horizontal cylinder 4 through bearing spindles.Said horizontal air cylinder 4 is through being bolted to the left side of fixed plate I 6.Said vertical cylinder 9 through be bolted to fixed plates II 10 above.
Though the above-mentioned accompanying drawing that combines is described the specific embodiment of utility model; But be not restriction to the utility model protection domain; One of ordinary skill in the art should be understood that; On the basis of the technical scheme of the utility model, those skilled in the art need not pay various modifications that creative work can make or distortion still in the protection domain of the utility model.
Claims (5)
1. pick up the egg manipulator automatically for one kind, it is characterized in that, comprise base, big bent plate, fixed plate I; Little bent plate, vertical cylinder, fixed plates II is held installing plate in hand, pawl I master cylinder; Pawl II master cylinder, pawl III master cylinder, pawl I, interior outer sensor I, interior outer sensor II; Pawl II, interior outer sensor III, pawl III, bearing pin; Said base is provided with column, establishes motor I on the said column, and the output shaft of said motor I is connected with big bent plate; Said big bent plate is provided with horizontal air cylinder; The cylinder rod of said horizontal air cylinder is connected the left side of fixed plate I, and the right of said fixed plate I is provided with motor II, and the axle of said motor II is connected with little bent plate; Said little bent plate is provided with vertical cylinder; The cylinder rod of said vertical cylinder is provided with fixed plates II, and said fixed plates II is provided with pawl I control cylinder, pawl II control cylinder, pawl III control cylinder, is respectively equipped with the paw installing plate on the cylinder rod of said pawl I control cylinder, pawl II control cylinder, pawl III control cylinder; Be respectively equipped with control pawl I, pawl II, pawl III on the said paw installing plate; The interior outside gluing of said pawl I is connected to interior outer sensor I, and the interior outside gluing of said pawl II is connected to interior outer sensor II, and the interior outside gluing of said pawl III is connected to interior outer sensor III.
2. the egg manipulator of picking up automatically as claimed in claim 1 is characterized in that, said column bottom is welded on the base.
3. the egg manipulator of picking up automatically as claimed in claim 1 is characterized in that, the axle of said motor I is connected with the big bent plate of fixing horizontal cylinder through bearing spindles.
4. the egg manipulator of picking up automatically as claimed in claim 1 is characterized in that said horizontal air cylinder is through being bolted to the left side of fixed plate I.
5. the egg manipulator of picking up automatically as claimed in claim 1 is characterized in that, said vertical cylinder through be bolted to fixed plates II above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203711187U CN202264222U (en) | 2011-09-30 | 2011-09-30 | Automatic egg catching mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203711187U CN202264222U (en) | 2011-09-30 | 2011-09-30 | Automatic egg catching mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202264222U true CN202264222U (en) | 2012-06-06 |
Family
ID=46155032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203711187U Expired - Fee Related CN202264222U (en) | 2011-09-30 | 2011-09-30 | Automatic egg catching mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202264222U (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102807093A (en) * | 2012-08-16 | 2012-12-05 | 宁波方正汽车模具有限公司 | Automatic conveying device for car tank snap ring |
| CN103624783A (en) * | 2013-12-06 | 2014-03-12 | 昆山永邦自动化设备有限公司 | Novel pneumatic manipulator |
| CN103662831A (en) * | 2013-12-04 | 2014-03-26 | 江苏宏丰奥凯机电有限公司 | Automatic feeding and discharging machine for vibration absorber in laser welding process |
| CN104012427A (en) * | 2014-06-30 | 2014-09-03 | 王帅 | Automatic egg picking-up and casing device |
| CN104044154A (en) * | 2014-06-26 | 2014-09-17 | 郭强 | Breakage-proof egg picking-up tongs device |
| CN104041424A (en) * | 2014-06-28 | 2014-09-17 | 王润泽 | Device for automatically recognizing positions of eggs and picking eggs |
| CN104044916A (en) * | 2014-06-30 | 2014-09-17 | 郭长帅 | Automatic picking device for injection molding blades |
| CN104094869A (en) * | 2014-06-26 | 2014-10-15 | 江治国 | Manipulator for picking up eggs |
| CN104722980A (en) * | 2015-04-08 | 2015-06-24 | 苏州市吴中区木渎华利模具加工店 | Full-pneumatic two-axis mechanical arm of condenser elastic screw cap installing machine |
| CN104786215A (en) * | 2015-05-04 | 2015-07-22 | 奇瑞汽车股份有限公司 | Cylindrical coordinate type robot |
| CN106553188A (en) * | 2015-09-29 | 2017-04-05 | 昆山孚思格机电科技有限公司 | A kind of cheese is dehydrated loading and unloading cylinder mechanical hand |
| CN106553187A (en) * | 2015-09-29 | 2017-04-05 | 昆山孚思格机电科技有限公司 | A kind of cheese dries 4 axial cylindrical mechanical hand of loading and unloading |
| CN108497360A (en) * | 2018-03-10 | 2018-09-07 | 邵博文 | A kind of cooked egg removing device |
| CN108555918A (en) * | 2018-02-12 | 2018-09-21 | 上海发那科机器人有限公司 | A kind of multifunctional and composite type paw being adapted to industrial robot training |
| CN111498482A (en) * | 2020-04-30 | 2020-08-07 | 江苏中贵重工有限公司 | Transfer robot and transfer apparatus |
-
2011
- 2011-09-30 CN CN2011203711187U patent/CN202264222U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102807093A (en) * | 2012-08-16 | 2012-12-05 | 宁波方正汽车模具有限公司 | Automatic conveying device for car tank snap ring |
| CN102807093B (en) * | 2012-08-16 | 2015-04-08 | 宁波方正汽车模具有限公司 | Automatic conveying device for car tank snap ring |
| CN103662831A (en) * | 2013-12-04 | 2014-03-26 | 江苏宏丰奥凯机电有限公司 | Automatic feeding and discharging machine for vibration absorber in laser welding process |
| CN103624783A (en) * | 2013-12-06 | 2014-03-12 | 昆山永邦自动化设备有限公司 | Novel pneumatic manipulator |
| CN104044154A (en) * | 2014-06-26 | 2014-09-17 | 郭强 | Breakage-proof egg picking-up tongs device |
| CN104094869A (en) * | 2014-06-26 | 2014-10-15 | 江治国 | Manipulator for picking up eggs |
| CN104041424A (en) * | 2014-06-28 | 2014-09-17 | 王润泽 | Device for automatically recognizing positions of eggs and picking eggs |
| CN104044916A (en) * | 2014-06-30 | 2014-09-17 | 郭长帅 | Automatic picking device for injection molding blades |
| CN104012427A (en) * | 2014-06-30 | 2014-09-03 | 王帅 | Automatic egg picking-up and casing device |
| CN104722980A (en) * | 2015-04-08 | 2015-06-24 | 苏州市吴中区木渎华利模具加工店 | Full-pneumatic two-axis mechanical arm of condenser elastic screw cap installing machine |
| CN104786215A (en) * | 2015-05-04 | 2015-07-22 | 奇瑞汽车股份有限公司 | Cylindrical coordinate type robot |
| CN106553188A (en) * | 2015-09-29 | 2017-04-05 | 昆山孚思格机电科技有限公司 | A kind of cheese is dehydrated loading and unloading cylinder mechanical hand |
| CN106553187A (en) * | 2015-09-29 | 2017-04-05 | 昆山孚思格机电科技有限公司 | A kind of cheese dries 4 axial cylindrical mechanical hand of loading and unloading |
| CN108555918A (en) * | 2018-02-12 | 2018-09-21 | 上海发那科机器人有限公司 | A kind of multifunctional and composite type paw being adapted to industrial robot training |
| CN108497360A (en) * | 2018-03-10 | 2018-09-07 | 邵博文 | A kind of cooked egg removing device |
| CN111498482A (en) * | 2020-04-30 | 2020-08-07 | 江苏中贵重工有限公司 | Transfer robot and transfer apparatus |
| CN111498482B (en) * | 2020-04-30 | 2021-06-18 | 江苏中贵重工有限公司 | Transfer robot and transfer apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120606 Termination date: 20120930 |