CN211254388U - End effector of whole-support egg boxing and carrying robot - Google Patents
End effector of whole-support egg boxing and carrying robot Download PDFInfo
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- CN211254388U CN211254388U CN201921875827.1U CN201921875827U CN211254388U CN 211254388 U CN211254388 U CN 211254388U CN 201921875827 U CN201921875827 U CN 201921875827U CN 211254388 U CN211254388 U CN 211254388U
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Abstract
The utility model discloses an end effector of a robot for boxing and transporting eggs in whole support, which comprises a manifold plate, a sucker, a first grabbing cylinder, a second grabbing cylinder, a first grabbing plate, a second grabbing plate and a cylinder mounting seat; the first grabbing plate is positioned on the right side of the manifold plate, and the middle part of the first grabbing plate is rotatably connected with the manifold plate; the second grabbing plate is positioned on the left side of the manifold plate, the middle of the second grabbing plate is rotatably connected with the manifold plate, the cylinder mounting seat is mounted at the upper side of the manifold plate, one end of the first grabbing cylinder is rotatably connected with the cylinder mounting seat, and the other end of the first grabbing cylinder is rotatably connected with the upper end of the first grabbing plate; the sucking discs are provided with a plurality of sucking discs and are arranged at the lower side positions of the manifold plates. The utility model has the advantages that: the technical problem that complete automation cannot be realized in the field of carrying and stacking under the conditions that the egg trays are soft and the carton space is small is solved; simultaneously, the flexible gripping device can be extended to use to finish eggs with different specifications and sizes, and has the flexible gripping function which can adapt to different heights.
Description
Technical Field
The utility model belongs to the technical field of the robot social security, concretely relates to whole support egg class vanning transfer robot end effector.
Background
In material production, transport field, intelligent equipment replaces people's work gradually, will improve production efficiency fast, reduction in production cost. Because the particularity of present eggs self attribute, be not convenient for snatch the transport, the vanning pile up neatly still uses traditional artifical transport to give first place to, at poultry livestock and poultry breeding field, do not have the automatic transport vanning pile up neatly device that the complete set can be used to eggs, consequently serious restriction production efficiency, artifical vanning is simultaneously because egg product is comparatively special than other commodities, a great deal of problems such as breakable pollution during production, can bring not few puzzlement in the operation, do not have better scheme to accomplish whole support egg automatic vanning temporarily in the present field. In view of this, it is necessary to design a robot end effector, which is a whole egg supporting boxing and carrying device based on a sucker, to solve the current situation that eggs cannot use an automatic boxing and stacking device, thereby greatly reducing the labor force, improving the production efficiency and reducing the production cost.
SUMMERY OF THE UTILITY MODEL
Aiming at the problem that no better scheme is available for completing automatic boxing of whole-support eggs in the prior art, the end effector of the whole-support egg boxing and transporting robot is provided.
An end effector of a whole egg supporting boxing and carrying robot comprises a manifold plate, a sucker, a first grabbing cylinder, a second grabbing cylinder, a first grabbing plate, a second grabbing plate and a cylinder mounting seat;
the first grabbing plate is positioned on the right side of the manifold plate, and the middle part of the first grabbing plate is rotatably connected with the manifold plate; the second grabbing plate is positioned on the left side of the manifold plate, and the middle part of the second grabbing plate is rotatably connected with the manifold plate;
the cylinder mounting seat is mounted at the upper side position of the manifold plate, one end of the first grabbing cylinder is rotatably connected with the cylinder mounting seat, and the other end of the first grabbing cylinder is rotatably connected with the upper end of the first grabbing plate; one end of the second grabbing cylinder is rotatably connected with the cylinder mounting seat, and the other end of the second grabbing cylinder is rotatably connected with the upper end of the second grabbing plate;
the sucking discs are provided with a plurality of sucking discs and are arranged at the lower side positions of the manifold plates.
Preferably, the end effector of the whole egg supporting boxing and transporting robot is provided with bending parts which are inclined inwards at the lower end parts of the first grabbing plate and the second grabbing plate.
Preferably, the end effector of the whole egg supporting boxing transfer robot has a telescopic part at the lower part of a suction cup.
Preferably, the end effector of the whole-egg supporting boxing and transporting robot is provided with a flange connecting plate at the upper side of the tube plate.
Preferably, the whole-supporting egg boxing and transporting robot end effector is characterized in that the first grabbing cylinder is rotatably connected with the upper end of the first grabbing plate through a first ball bearing, and the second grabbing cylinder is rotatably connected with the upper end of the second grabbing plate through a second ball bearing.
The utility model has the advantages that:
the technical problem that complete automation cannot be realized in the field of carrying and stacking under the conditions that the egg trays are soft and the carton space is small is solved; meanwhile, the egg gripping device can be extended to finish eggs with different specifications and sizes, and has a flexible gripping function which can adapt to different heights; a novel egg carrying scheme is provided, the utilization rate of the device and the production reliability are greatly improved, and considerable economic benefits are achieved; the automatic egg stacking device can be widely used for carrying, stacking and other work of different eggs, the whole process is safe, reliable, rapid and efficient, and new technical support is provided for automatic carrying of different eggs.
Drawings
FIG. 1 is an isometric view of an embodiment of the present invention;
fig. 2 is a front view of an embodiment of the present invention;
fig. 3 is a left side view of an embodiment of the present invention;
fig. 4 is a bottom view of an embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be further explained with reference to the drawings in the embodiments of the present invention.
As shown in fig. 1 and 2, an end effector of a robot for boxing and transporting whole eggs comprises a manifold plate 1, a suction cup 2, a first grabbing cylinder 31, a second grabbing cylinder 32, a first grabbing plate 41, a second grabbing plate 42 and a cylinder mounting seat 5.
As shown in fig. 2, the first gripper plate 41 is located on the right side of the manifold plate 1, and the middle portion thereof is rotatably connected to the manifold plate 1; the second gripper plate 42 is located on the left side of the manifold plate 1, and the middle portion thereof is rotatably connected to the manifold plate 1.
As shown in fig. 1 and 2, the cylinder mounting base 5 is mounted at the upper side position of the manifold plate 1, one end of the first grabbing cylinder 31 is rotatably connected with the cylinder mounting base 5, and the other end is rotatably connected with the upper end of the first grabbing plate 41; one end of the second grabbing cylinder 32 is rotatably connected with the cylinder mounting base 5, and the other end is rotatably connected with the upper end of the second grabbing plate 42.
As shown in fig. 1 and 2, the suction cups 2 are provided with a plurality of suction cups, and are installed at the lower side position of the manifold plate 1.
The working principle is as follows: as shown in fig. 1 and 2, the end effector of the present application is mounted on a robot arm for gripping a whole egg tray 9 filled with eggs. During the gripping process, the end effector approaches the egg tray 9 from vertically above the egg tray 9 downward, and the first gripping plate 41 and the second gripping plate 42 are in an open state. After the eggs are released by the suction cups 2, the first grabbing cylinder 31 and the second grabbing cylinder 32 synchronously act together, so that the lower ends of the first grabbing plate 41 and the second grabbing plate 42 simultaneously clamp the egg support 9 inwards, and the egg support 9 is firmly grabbed.
Through the cooperation of sucking disc 2 and grabbing board, firm the grabbing egg holds in the palm 9, simultaneously, prevents that egg 9 from dropping or crowded garrulous.
It should be noted that the suction cup 2 herein can be understood as two technical solutions:
one is a suction cup 2 that can be evacuated. The manifold plate 1 is internally provided with a pipeline, the sucker 2 is communicated with the pipeline, and the manifold plate 1 is provided with an air outlet connector communicated with the pipeline. The air outlet connector is vacuumized, so that all the suckers 2 can synchronously suck eggs, and the fixing effect is achieved. Meanwhile, the sucker 2 is made of soft materials, so that eggs cannot be crushed while being fixed.
The other is a suction cup 2 without vacuum pumping. At this time, the sucking disc 2 only fixes the eggs by pressing the sucking disc on the eggs, and the vacuumized sucking effect of the eggs is not realized.
As shown in fig. 2, the lower end portions of the first and second grasping plates 41 and 42 are each provided with a bent portion 40 that is inclined inward. The portion of bending 40 is located the downside position that the egg held in the palm 9, and when pressing from both sides tight egg and hold in the palm 9, the portion of bending 40 holds in the palm egg from the downside and holds in the palm 9, compares in only relying on tight frictional force, and the design of the portion of bending 40 makes to hold in the palm grabbing of 9 more stable to the egg, does not need very big clamp force simultaneously.
As shown in fig. 2, the suction cup 2 has an expansion part 21 at a lower portion thereof. Due to the design of the expansion part 21, the application range of the sucking disc 2 is expanded, and the sucking disc can be applied to eggs with different sizes. Meanwhile, the flexible telescopic part 21 can well fix eggs and can not crush the eggs.
As shown in fig. 3, a flange connecting plate 6 is mounted on the upper side of the manifold plate 1. For connection to robotic arms and end effectors.
As shown in figure 4, the number of the sucking discs 2 is a bottom view, and the sucking discs are arranged corresponding to the positions of the eggs on the egg support 9 one by one.
As shown in fig. 2, the first grasping cylinder 31 is rotatably connected to the upper end of the first grasping plate 41 by a first ball bearing 71, and the second grasping cylinder 32 is rotatably connected to the upper end of the second grasping plate 42 by a second ball bearing 72.
It is to be understood that although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations may 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 (5)
1. An end effector of a whole egg supporting boxing and carrying robot is characterized by comprising a manifold plate (1), a suction cup (2), a first grabbing cylinder (31), a second grabbing cylinder (32), a first grabbing plate (41), a second grabbing plate (42) and a cylinder mounting seat (5);
the first grabbing plate (41) is positioned on the right side of the manifold plate (1), and the middle part of the first grabbing plate (41) is rotatably connected with the manifold plate (1); the second grabbing plate (42) is positioned on the left side of the manifold plate (1), and the middle part of the second grabbing plate (42) is rotatably connected with the manifold plate (1);
the cylinder mounting seat (5) is mounted at the upper side of the manifold plate (1), one end of the first grabbing cylinder (31) is rotatably connected with the cylinder mounting seat (5), the other end of the first grabbing cylinder is rotatably connected with the upper end of the first grabbing plate (41), one end of the second grabbing cylinder (32) is rotatably connected with the cylinder mounting seat (5), and the other end of the second grabbing cylinder is rotatably connected with the upper end of the second grabbing plate (42);
the sucking discs (2) are provided with a plurality of sucking discs and are arranged at the lower side positions of the manifold plates (1).
2. A whole egg boxing transfer robot end effector in accordance with claim 1, wherein lower end portions of the first gripping plate (41) and the second gripping plate (42) are each provided with an inwardly inclined bend (40).
3. A whole egg boxing transfer robot end effector as claimed in claim 1, wherein the lower portion of the suction cup (2) has a telescoping portion (21).
4. A whole egg boxing transfer robot end effector as claimed in claim 1, wherein a flange connection plate (6) is mounted to an upper side of the tube plate (1).
5. The whole egg flat boxing transfer robot end effector as set forth in claim 1, wherein the first gripping cylinder (31) is rotatably connected to an upper end of the first gripping plate (41) by a first ball bearing (71), and the second gripping cylinder (32) is rotatably connected to an upper end of the second gripping plate (42) by a second ball bearing (72).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921875827.1U CN211254388U (en) | 2019-11-04 | 2019-11-04 | End effector of whole-support egg boxing and carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921875827.1U CN211254388U (en) | 2019-11-04 | 2019-11-04 | End effector of whole-support egg boxing and carrying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211254388U true CN211254388U (en) | 2020-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921875827.1U Active CN211254388U (en) | 2019-11-04 | 2019-11-04 | End effector of whole-support egg boxing and carrying robot |
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| Country | Link |
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| CN (1) | CN211254388U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029988A (en) * | 2021-12-08 | 2022-02-11 | 中航西安飞机工业集团股份有限公司 | Grabbing device for grabbing plates at tail end of robot and using method |
-
2019
- 2019-11-04 CN CN201921875827.1U patent/CN211254388U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029988A (en) * | 2021-12-08 | 2022-02-11 | 中航西安飞机工业集团股份有限公司 | Grabbing device for grabbing plates at tail end of robot and using method |
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Address after: 266111 north side of Xinyue Road, east side of torch Branch Road, high tech Industrial Development Zone, Qingdao City, Shandong Province Patentee after: Qingdao Baojia Intelligent Equipment Co.,Ltd. Address before: 266111 north side of Xinyue Road, east side of torch Branch Road, high tech Industrial Development Zone, Qingdao City, Shandong Province Patentee before: QINGDAO BAOJIA AUTOMATION EQUIPMENT Co.,Ltd. |