Egg tray transfer robot and egg tray transfer device thereof

Abstract

The utility model discloses an egg tray transfer manipulator and egg tray transfer device thereof belong to poultry egg processing equipment technical field. The egg tray transfer manipulator includes swing transmission module, swing arm, support, rotary transmission module and clamping suction manipulator, swing transmission module drives the support to swing transmission through swing arm, the rotary transmission module is located on the support, and the output of rotary transmission module drives the clamping suction manipulator to make rotary transmission, and the clamping suction manipulator can realize the clamping suction of the egg tray filled with poultry eggs. The egg tray transfer manipulator of the utility model can automatically transfer the egg tray of cross -misplacement superposed poultry egg to the orientation normalization, greatly facilitates the unification of subsequent egg handling on the egg tray, and the quantitative processing of subsequent poultry egg, has higher economic benefit and market prospect.

Description

Technical Field

[0001] This utility model belongs to the technical field of poultry egg processing equipment, and in particular relates to an egg tray transfer robot and its egg tray transfer device. Background Technology

[0002] In poultry farms, egg collection mainly uses egg trays, which are then stacked in a staggered manner after the eggs are collected. During subsequent processing or packaging and transportation of the eggs, the staggered egg trays need to be arranged so that they face the same direction before being placed to facilitate large-scale processing.

[0003] Currently, rearranging staggered egg trays is mainly done manually, which requires a huge amount of manpower. Therefore, developing a robotic arm that can automatically transfer and rearrange staggered egg trays will have high economic benefits and market prospects. Summary of the Invention

[0004] This utility model provides an egg tray transfer robot and its egg tray transfer device, which aims to solve the problem that the current process of repositioning misaligned egg trays in a consistent manner is mainly done manually, which requires a lot of manpower.

[0005] The present invention is implemented as follows:

[0006] An egg tray transfer robot includes a swing transmission module, a swing arm, a support, a rotary transmission module, and a gripping robot. The swing transmission module drives the support to swing through the swing arm. The rotary transmission module is mounted on the support, and its output drives the gripping robot to rotate. The gripping robot is capable of gripping and grasping egg trays filled with eggs.

[0007] During the process of grasping and transferring egg trays filled with eggs that are placed in a staggered manner, the swing transmission module drives the swing arm to move down to one side until the gripping robot arm contacts the egg tray. After the gripping robot arm grips the egg tray, the swing transmission module drives the swing arm to rotate to the opposite side until the egg tray is in contact with the conveyor track. At this point, the gripping robot arm releases the egg tray. During the swing transmission driven by the swing transmission module, the rotary transmission module rotates the gripping robot arm 90°. After the next round of gripping, the rotary transmission module rotates the gripping robot arm another 90° during the swing process, so that when the egg tray is in contact with the conveyor track, the direction of the egg tray is the same as the previous egg tray. This two-grip cycle is repeated to form a loop unit, and subsequent loop gripping is performed.

[0008] Preferably, the swing transmission module includes a swing transmission power device, a coupling, and an intermediate rotating shaft; the swing transmission power device, the coupling, and the intermediate rotating shaft are connected in sequence, and the lower end of the swing arm is fixedly mounted on the intermediate rotating shaft; the swing transmission of the swing arm is realized through the transmission of the swing transmission power device and the intermediate rotating shaft.

[0009] Preferably, the upper end of the swing arm is slidably connected to the bracket via a bearing. This slidable connection ensures that the plane of the bracket remains unchanged while the swing arm is swinging the bracket.

[0010] Preferably, the rotary transmission module includes a rotary transmission motor and a rotating unit. The rotary transmission motor is connected to the rotating unit via a motor synchronous pulley, and the output end of the rotating unit is connected to the gripping manipulator. Preferably, the rotary transmission motor performs a 90° rotational transmission on the gripping manipulator through the rotating unit. More preferably, there are one or more rotating units, and the rotary transmission motor enables synchronous transmission of multiple sets of transmission units. The number of transmission units is consistent with the number of gripping manipulators.

[0011] The rotating unit includes a rotating valve, a synchronous pulley, a locking sleeve, and a suction cup connecting sleeve connected in sequence. The synchronous pulley is matched and connected to the motor synchronous pulley on the rotary transmission motor.

[0012] The gripping and suction manipulator comprises a manipulator base, a gripping part, and a suction cup part, wherein the gripping part and the suction cup part are disposed on the manipulator base. Preferably, the manipulator base is connected to the suction cup connecting sleeve. More preferably, the suction cup part is connected to an air pump through the manipulator base. When the suction cup part comes into contact with the eggs on the egg tray, the air pump draws air to increase the suction force of the suction cup part, thereby preventing eggs from falling due to insufficient suction force during transportation.

[0013] An egg tray transfer device includes the aforementioned egg tray transfer robot. Furthermore, it also includes a conveying device disposed on the side of the egg tray transfer robot.

[0014] The beneficial effects achieved by this utility model are:

[0015] 1. The egg tray transfer robot of this utility model, in the process of grasping and transferring egg trays filled with poultry eggs that are placed in a cross-shaped manner, drives the swing arm to move down to one side through the swing transmission module until the gripping robot arm contacts the egg tray filled with poultry eggs. After the gripping robot arm grips and grasps the egg tray filled with poultry eggs, the swing transmission module drives the swing arm to rotate to the opposite side until the egg tray filled with poultry eggs abuts against the conveyor track, at which point the gripping robot arm releases the egg tray filled with poultry eggs. During the swing transmission driven by the swing transmission module, the rotation transmission module rotates the gripping robot arm 90°. After the next round of gripping and grasping, the rotation transmission module rotates the gripping robot arm another 90° during the swing process, so that when the egg tray filled with poultry eggs abuts against the conveyor track, the direction of the egg tray filled with poultry eggs is consistent with the previous egg tray. The above two gripping cycles constitute one cycle unit, and subsequent cycles of gripping are performed.

[0016] 2. The egg tray transfer robot of this utility model can automatically transfer egg trays with interlocked and misaligned eggs in a normalized orientation, which greatly facilitates the standardization of subsequent processing of eggs on the trays and the quantitative processing of eggs; it has high economic benefits and market prospects. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the egg tray transfer robot of this utility model. Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the structure of the egg tray transfer robot of this utility model. Figure 2 ;

[0019] Figure 3 This is a schematic diagram of the support, rotary transmission module, and clamping manipulator of this utility model;

[0020] Figure 4 This is a schematic diagram of the egg tray transfer device of this utility model. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, top, bottom, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0023] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] It should be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0025] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0026] Currently, the process of rearranging misaligned egg trays in a consistent manner relies primarily on manual placement, which incurs significant labor costs. To address these technical issues, this invention proposes an egg tray transfer robot and its transfer device.

[0027] Example

[0028] like Figures 1 to 4As shown, an egg tray transfer robot 10 includes a swing transmission module 1, a swing arm 2, a support 3, a rotary transmission module 4, and a gripping robot 5. The swing transmission module 1 drives the support 3 to swing through the swing arm 2. The rotary transmission module 4 is mounted on the support 3, and the output end of the rotary transmission module 4 drives the gripping robot 5 to rotate. The gripping robot 5 can grip and pick up egg trays full of poultry eggs.

[0029] During the process of grasping and transferring egg trays filled with poultry eggs that are placed in a staggered manner, the swing transmission module 1 drives the swing arm 2 to move down to one side until the gripping robot 5 contacts the egg tray filled with poultry eggs. After the gripping robot 5 grips and grabs the egg tray filled with poultry eggs, the swing transmission module 1 drives the swing arm 2 to rotate to the opposite side until the egg tray filled with poultry eggs comes into contact with the conveyor track. At this point, the gripping robot 5 releases the egg tray filled with poultry eggs. During the swing transmission driven by the swing transmission module 1, the rotary transmission module 4 rotates the gripping robot 5 by 90°. After the next round of gripping and grabbing, the rotary transmission module 4 rotates the gripping robot 5 by another 90° during the swing process, so that when the egg tray filled with poultry eggs comes into contact with the conveyor track, the direction of the egg tray filled with poultry eggs is the same as the previous egg tray. The above two gripping cycles constitute one cycle unit, and subsequent cycles of gripping are performed.

[0030] Preferably, the swing transmission module 1 includes a swing transmission power device 11, a coupling 12, and an intermediate rotating shaft 13; the swing transmission power device 11, the coupling 12, and the intermediate rotating shaft 13 are connected in sequence, and the lower end of the swing arm 2 is fixedly mounted on the intermediate rotating shaft 13; the swing transmission of the swing arm 2 is realized through the transmission of the swing transmission power device 11 and the intermediate rotating shaft 13.

[0031] Preferably, the upper end of the swing arm 2 is slidably connected to the bracket 3 via a bearing. Through the slidable connection between the swing arm 2 and the bracket 3, the plane of the bracket 3 remains unchanged during the swinging process of the swing arm 2 driving the bracket 3 to swing.

[0032] Preferably, the rotary transmission module 4 includes a rotary transmission motor 41 and a rotating unit 42. The rotary transmission motor 41 is connected to the rotating unit 42 via a motor synchronous pulley, and the output end of the rotating unit 42 is connected to the gripping manipulator 5. Preferably, the rotary transmission motor 41 performs a 90° rotational transmission on the gripping manipulator 5 through the rotating unit 42. More preferably, there can be multiple sets of rotating units 42 (two sets are shown in this embodiment), and the rotary transmission motor 41 enables synchronous transmission of multiple sets of transmission units 42. The number of sets of transmission units 42 is the same as the number of sets of gripping manipulator 5.

[0033] The rotating unit 42 includes a rotating valve 421, a synchronous pulley 422, a locking sleeve 423, and a suction cup connecting sleeve 424 connected in sequence. The synchronous pulley 422 is matched and connected to the motor synchronous pulley on the rotary transmission motor 41.

[0034] The clamping and suction manipulator 5 comprises a manipulator base 51, a clamping part 52, and a suction cup part 53, wherein the clamping part 52 and the suction cup part 53 are disposed on the manipulator base 51. Preferably, the manipulator base 51 is connected to the suction cup connecting sleeve 424. More preferably, the suction cup part 53 is connected to an air pump through the manipulator base 51. When the suction cup part 53 comes into contact with the eggs on the egg tray, the air pump draws air to increase the suction force of the suction cup part 53, thereby preventing eggs from falling due to insufficient suction during transportation.

[0035] An egg tray transfer device includes the aforementioned egg tray transfer robot 10. Furthermore, it also includes a conveying device 20 disposed on the side of the egg tray transfer robot 10.

[0036] The beneficial effects achieved by this utility model are:

[0037] 1. The egg tray transfer robot of this utility model, in the process of grasping and transferring egg trays filled with poultry eggs that are placed in a cross-shaped manner, drives the swing arm 2 to move down to one side until the clamping robot 5 contacts the egg tray filled with poultry eggs. After the clamping robot 5 clamps and grasps the egg tray filled with poultry eggs, the swing transmission module 1 drives the swing arm 2 to rotate to the opposite side until the egg tray filled with poultry eggs comes into contact with the conveyor track. At this point, the clamping robot 5 releases the egg tray filled with poultry eggs. During the swing transmission driven by the swing transmission module 1, the rotation transmission module 4 rotates the clamping robot 5 by 90°. After the next round of clamping and grasping, the rotation transmission module 4 rotates the clamping robot 5 by another 90° during the swing process, so that when the egg tray filled with poultry eggs comes into contact with the conveyor track, the direction of the egg tray filled with poultry eggs is the same as the previous egg tray. The above two grasping cycles constitute one cycle unit, and subsequent cycle grasping is performed.

[0038] 2. The egg tray transfer robot of this utility model can automatically transfer egg trays with interlocked and misaligned eggs in a normalized orientation, which greatly facilitates the standardization of subsequent processing of eggs on the trays and the quantitative processing of eggs; it has high economic benefits and market prospects.

[0039] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic arm for transferring egg trays, characterized in that: It includes a swing transmission module, a swing arm, a support, a rotary transmission module, and a gripping manipulator; the swing transmission module drives the support to swing through the swing arm; the rotary transmission module is mounted on the support, and the output end of the rotary transmission module drives the gripping manipulator to rotate, and the gripping manipulator can grip and pick up egg trays full of poultry eggs.

2. The egg tray transfer robot according to claim 1, characterized in that: The swing transmission module includes a swing transmission power device, a coupling, and an intermediate rotating shaft; the swing transmission power device, the coupling, and the intermediate rotating shaft are connected in sequence, and the lower end of the swing arm is fixedly mounted on the intermediate rotating shaft; the swing transmission of the swing arm is realized through the transmission of the swing transmission power device and the intermediate rotating shaft.

3. The egg tray transfer robot according to claim 1, characterized in that: The upper end of the swing arm is slidably connected to the bracket via a bearing. This slidable connection ensures that the plane of the bracket remains unchanged while the swing arm drives the bracket to swing.

4. The egg tray transfer robot according to claim 1, characterized in that: The rotary transmission module includes a rotary transmission motor and a rotating unit. The rotary transmission motor is connected to the rotating unit via a motor synchronous pulley, and the output end of the rotating unit is connected to the gripping manipulator.

5. The egg tray transfer robot according to claim 4, characterized in that: The rotary transmission motor drives the gripper to rotate 90° via the rotating unit.

6. The egg tray transfer robot according to claim 4, characterized in that: The rotating unit is one or more sets, and the rotary transmission motor realizes synchronous transmission of multiple sets of transmission units. The number of sets of transmission units is the same as the number of sets of the gripping and suction manipulator.

7. The egg tray transfer robot according to claim 4, characterized in that: The rotating unit includes a rotating valve, a synchronous pulley, a locking sleeve, and a suction cup connecting sleeve connected in sequence. The synchronous pulley is matched and connected to the motor synchronous pulley on the rotary transmission motor.

8. The egg tray transfer robot according to claim 1, characterized in that: The gripping and suction robot comprises a robot base, a gripping part, and a suction cup part, wherein the gripping part and the suction cup part are disposed on the robot base.

9. The egg tray transfer robot according to claim 8, characterized in that: The suction cup is connected to an air pump via the robot arm base.

10. An egg tray transfer device, characterized in that: Includes the egg tray transfer robot as described in any one of claims 1-9.

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