Pneumatic anti-breakage grasping claw for eggs and grasping method thereof

Abstract

A pneumatic egg shatterproof grasping claw and its grasping method adopts a cylindrical hollow grasping claw, a buffer gasket is provided at the entrance edge of the cavity, and a vacuum negative pressure source is externally connected to the tail end of the grasping claw , the grasping claw is connected to the egg liquid collection box through the vacuum connection pipeline, the egg liquid collection box can suck the broken eggs under the action of negative pressure and separate the egg liquid from the air, the egg liquid stays in the egg liquid collection box, and the air Enter the vacuum negative pressure source; the grasping claw is installed on the support plate, the support plate is fixed on one side of the egg liquid collection box, and the other side of the egg liquid collection box is connected to the mechanical arm; the support plate is installed The photoelectric sensor detects the position of the egg through the photoelectric sensor. The invention aims at the problems such as fragility, no positioning surface and relatively difficult rigid positioning in the clamping process existing in the automatic carving of eggs, and realizes the automatic grasping, handling and clamping of eggs, and the operation is reliable and stable.

Description

technical field [0001] The invention relates to an egg grasping claw, in particular to a pneumatic egg shatterproof grasping claw and a grasping method thereof. Background technique [0002] Egg grabbing is widely used in industrial automation, and various types of egg grabbing solutions have their own advantages. Eggs are fragile, oval in shape, different in size, and different in shell thickness, so they are not easy to hold and position when grasping and transporting. If you use too little force, it will fall off. [0003] The existing mature grabbing scheme in large poultry farms is to use trays to pack eggs, and then use the indirect grabbing method of grabbing trays. There is also a method of using a general-purpose vacuum suction cup to grab eggs, and it can be expanded into a group, and multiple eggs can be grabbed at a time, as in the patent "a device for loading and unloading eggs on an egg production line" (CN102616565A). There is also an anti-shatter egg grabb...

AI Technical Summary

Problems solved by technology

However, this method does not accurately position the eggs. Due to the method of lifting and enclosure, in order to meet eggs of different sizes, the internal space of the hand claw is larger, and the egg can roll inside the hand claw. The position of the egg will change when slowing down

Due to the lack of accurate positioning, the posture of the eggs when they are placed is also random, and it is impossible to carry out accurate loading and unloading and clamping, and the placement posture of the eggs is not uniform each time, so it is impossible to realize automatic operation

In addition, the design of this kind of egg silo is difficult, the claws need to be grasped from the bottom of the eggs, and the material level of the egg silo needs to be designed to avoid the bottom of the eggs to reduce the contact surface with the eggs

Finally, the gripper does not have the detection function, so it cannot judge whether there is material on the fixture

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