Automatic egg feeding and packaging machine based on six-axis manipulator

Abstract

The utility model relates to the technical field of egg packaging, and discloses an automatic egg feeding and packaging machine based on a six-axis mechanical arm, which comprises a conveyor, the six-axis mechanical arm and a packaging machine main body, and the six-axis mechanical arm is arranged on one side of the output end of the conveyor. When the egg packaging machine is used, the six-axis mechanical arm is matched with the bionic suction head to move egg products to the packaging machine body to be packaged, then the defect that feeding is slow in the prior art is overcome, and continuous work can be achieved; the guide plate and the base are matched with each other to stretch out and draw back at equal intervals, so that the bionic suction head can be finely adjusted according to the position and the shape of an egg when sucking the egg, a constant distance between the suction cup and the surface of the egg is ensured, the egg can be accurately sucked, and the accuracy and the efficiency of packaging are improved; therefore, when the automatic egg feeding and packaging machine is used, the effects of facilitating rapid feeding and improving the working efficiency are achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to egg packaging technical field, concretely is an egg automatic feeding and packaging machine based on six axis mechanical arm. BACKGROUND

[0002] The egg feeding and packaging machine is a device for packaging egg products, which can realize a series of processes such as conveying, grading and packaging of eggs. It includes single-sided stretching, double-sided stretching and special-shaped packaging and other ways to meet different packaging needs, and the precision and consistency of the machine packaging are high, which can ensure that the quality and appearance of each packaging meet the standards.

[0003] However, during the packaging process of the feeding and packaging machine for egg products, the staff usually arranges the egg products neatly. This way of arranging egg products is time-consuming and laborious, and the arrangement of egg products is prone to skewing, thereby increasing the probability of damage to egg products, and affecting the use of the egg packaging machine. UTILITY MODEL CONTENT

[0004] The utility model aims at providing an egg automatic feeding and packaging machine based on six axis mechanical arm to solve the problems in the above background.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: an egg automatic feeding and packaging machine based on six axis mechanical arm, which comprises a conveyor, a six-axis mechanical arm and a packaging machine main body. The conveyor output end side is provided with a six-axis mechanical arm, and the outer wall side of the six-axis mechanical arm is provided with a packaging machine main body. The top end of the six-axis mechanical arm is connected with a fixed disc, and the top end side of the fixed disc is connected with a telescopic cylinder.

[0006] Preferably, the outer wall bottom end of the fixed disc is welded with a guide plate, the guide plate is internally provided with a movable groove, and the movable groove is internally and slidably connected with a base. The outer wall bottom end of the base is provided with a bionic suction head. The top end of the conveyor is internally and rotatably connected with a friction roller.

[0007] Preferably, the base is provided with eight groups, and the size of the movable groove corresponds to the base one by one. The top end of the base is connected with a transmission seat, and the transmission seat is connected with the base at both ends.

[0008] Compared with the prior art, the automatic egg feeding and packaging machine based on the six-axis mechanical arm has the beneficial effects that: during use, the egg products are moved to the packaging machine main body for packaging through the six-axis mechanical arm and the bionic suction head, thereby improving the previous slow feeding defect and enabling continuous work; and through the mutual cooperation of the guide plate and the base for equidistance expansion and contraction, the bionic suction head can be fine-tuned according to the position and shape of the eggs during egg suction, the suction disc and the egg surface can keep a constant distance, thereby enabling the bionic suction head to accurately suck the eggs and improving the accuracy and efficiency of packaging, so that the automatic egg feeding and packaging machine can facilitate rapid feeding and improve work efficiency during use. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 It is a front view structural schematic diagram of the utility model;

[0010] Figure 2 It is a front view structural schematic diagram of the utility model with one state;

[0011] Figure 3 It is a front view structural schematic diagram of the utility model with two states;

[0012] Figure 4 It is a fixed disc three-dimensional structural schematic diagram of the utility model;

[0013] Figure 5 It is a guide plate three-dimensional structural schematic diagram of the utility model;

[0014] Figure 6 It is a six-axis mechanical arm three-dimensional structural schematic diagram of the utility model;

[0015] Figure 7 It is a transmission seat top view structural schematic diagram of the utility model;

[0016] Figure 8 It is a base three-dimensional structural schematic diagram of the utility model.

[0017] In the drawing: 1, conveyor; 2, six-axis mechanical arm; 3, packaging machine main body; 4, fixed disc; 5, guide plate; 6, base; 7, bionic suction head; 8, friction roller; 9, transmission seat; 10, movable groove. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0019] Please refer toFigures 1-8 The utility model provides a kind of automatic egg feeding packaging machine based on six-axis manipulator, including conveyor 1, six-axis manipulator 2 and packaging machine main body 3, conveyor 1 output side is provided with six-axis manipulator 2, and six-axis manipulator 2 outer wall side is provided with packaging machine main body 3, six-axis manipulator 2 top end is connected with fixed disc 4, and fixed disc 4 top end side middle part is connected with telescopic cylinder, fixed disc 4 outer wall bottom end is welded with guide plate 5, and guide plate 5 is internally provided with movable slot 10, and movable slot 10 is slidably connected with pedestal 6 inside, pedestal 6 outer wall bottom end is equipped with bionic suction head 7, conveyor 1 top end is rotatably connected with friction roller 22 inside, pedestal 6 is provided with eight groups, and the size of movable slot 10 and pedestal 6 one to one correspondence, the top of pedestal 6 is connected with transmission seat 9, and transmission seat 9 both ends are connected with pedestal 6;Friction roller 22 is distributed at equal intervals on conveyor 1, and sensor is mounted in the conveying channel of the top of conveyor 1, and the synchronous stable placement of egg products can be realized by sensor cooperation friction roller 22.

[0020] Specific implementation, when egg products are transported to six-axis manipulator 2 by conveyor 1, pass through friction roller 22, when egg products contact with the continuously rotating friction roller 22, egg products are rotated by the friction force of friction roller 22, then the inclined egg products are rotated into positive, so that egg products are placed neatly, prevent egg products from being inclined to affect the conveying of six-axis manipulator 2, and the synchronous stable placement of egg products can be realized by sensor cooperation friction roller 22, only when six groups of egg products exist in conveying channel simultaneously, six-axis manipulator 2 can be started, because six-axis manipulator 2 top end and fixed disc 4, six-axis manipulator 2 is started at this time to drive bionic suction head 7 of fixed disc 4 bottom to approach conveyor 1, and because six-axis manipulator 2 has six degrees of freedom joint design, it can move in three-dimensional space like human arm, this high flexibility makes it can easily cope with various complex working environment and workpiece shape, until bionic suction head 7 contacts with egg products, bionic suction head 7 generates suction force to adsorb egg products at this time, and bionic suction head 7 will not damage egg products, reduce the breakage rate of egg products, then egg products are moved to packaging machine main body 3 for packaging by the movement of six-axis manipulator 2, and then the previous feeding slow defect of six-axis manipulator 2 is improved, can work quickly and continuously, very small space occupation, and one group of six-axis manipulator 2 can cooperate with one group of packaging machine main body 3, or cooperate with two groups of packaging machine main body 3, so as to improve production efficiency.

[0021] Because the base 6 and the movable slot 10 in the guide plate 5 are in sliding connection, and the bottom end of the base 6 is connected with the bionic suction head 7, the staff can start the electric push rod at the top of the guide plate 5, at this time the electric push rod retracts to drive the base 6 connected therewith to move, then the base 6 drives the base 6 connected therewith through the transmission seat 9, and then the base 6 slides along the movable slot 10, so that the equal interval expansion and contraction is carried out, so that the bionic suction head 7 can be fine-tuned according to the position and shape of the egg when sucking the egg, and the distance between the suction disc and the surface of the egg is kept constant, even if the egg is a little inclined, the equal interval expansion and contraction device can adjust the position and angle of the suction disc, so that it can accurately adsorb the egg, greatly improving the accuracy and efficiency of packaging, so that when the egg automatic feeding packaging machine is used, the effect of facilitating rapid feeding and improving work efficiency is achieved.

[0022] In summary, the egg automatic feeding packaging machine based on the six-axis mechanical arm is used, the egg products are first conveyed to the six-axis mechanical arm 2 through the conveyor 1, then the bionic suction head 7 is close to the egg products through the movement of the six-axis mechanical arm 2, and then the egg products are adsorbed through the bionic suction head 7, and then the eggs are conveyed to the packaging machine main body 3 through the six-axis mechanical arm 2 for packaging, so that rapid and flexible feeding is realized, and the equal interval expansion and contraction is realized through the cooperation of the guide plate 5 and the base 6, so that the bionic suction head 7 can be fine-tuned according to the position and shape of the egg when sucking the egg, and the distance between the suction disc and the surface of the egg is kept constant, even if the egg is a little inclined, the equal interval expansion and contraction device can adjust the position and angle of the suction disc, so that it can accurately adsorb the egg, greatly improving the accuracy and efficiency of packaging, so that when the egg automatic feeding packaging machine is used, the effect of facilitating rapid feeding and improving work efficiency is achieved.

[0023] The contents not described in detail in the description belong to the prior art known to those skilled in the art.

[0024] Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features, and any modification, equivalent replacement, improvement, etc. within the spirit and principles of the utility model should be included in the protection scope of the utility model.

Claims

1. An automatic egg feeding and packaging machine based on a six-axis robotic arm, comprising a conveyor (1), a six-axis robotic arm (2), and a packaging machine body (3), wherein the six-axis robotic arm (2) is provided on one side of the output end of the conveyor (1), and the packaging machine body (3) is provided on one side of the outer wall of the six-axis robotic arm (2), characterized in that: The top of the six-axis robotic arm (2) is connected to a fixed plate (4), and a telescopic cylinder is connected to the middle of one side of the top of the fixed plate (4).

2. The automatic egg feeding and packaging machine based on a six-axis robotic arm according to claim 1, characterized in that: The bottom of the outer wall of the fixed disk (4) is welded with a guide plate (5), and the guide plate (5) has an active groove (10) inside, and a base (6) is slidably connected inside the active groove (10). A bionic suction head (7) is installed at the bottom of the outer wall of the base (6), and a friction roller (8) is rotatably connected inside the top of the conveyor (1).

3. The automatic egg feeding and packaging machine based on a six-axis robotic arm according to claim 2, characterized in that: The base (6) is provided with eight sets, and the size of the movable groove (10) corresponds one-to-one with the base (6). The top of the base (6) is connected to the transmission seat (9), and the two ends of the transmission seat (9) are distributed and connected to the base (6).

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