Automatic positioning device for egg carts during vaccine production

Abstract

The present invention relates to an automatic positioning device for an egg trolley in a vaccine production process, comprising an L-shaped positioning bracket, wherein the long and short sides of the L-shaped positioning bracket match the long and wide sides of the egg trolley; a front pressing mechanism is respectively provided on the inner and outer sides of the long side of the L-shaped positioning bracket, for pressing the egg trolley against the long side of the L-shaped positioning bracket; a side pressing mechanism is provided on the outer side of the long side of the L-shaped positioning bracket, for pressing the egg trolley against the short side of the L-shaped positioning bracket. The device of the present invention can accurately position the egg trolley, so that the robot can normally take and place the egg tray, thereby improving production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of vaccine automated production equipment, and in particular relates to an automatic positioning device for an egg cart in a vaccine production process. Background Art

[0002] Vaccines use embryonated eggs to culture viruses. Before the embryonated eggs are cultured, they must go through embryo screening and disinfection. At present, the processes of embryo screening and disinfection are basically automated, without manual review. For example, the utility model patent for an automatic embryo disinfection system (CN 209182258 U) has basically achieved automation. Taking the inspection line as an example, the traditional inspection line is generally equipped with inspection equipment and an egg cart located at the entrance and exit of the inspection equipment. There are multiple layers of egg trays on the egg cart, and the most common ones are two rows and four columns of egg trays per layer. Due to its own advantages, the robot is used to remove the egg tray from the egg cart and send it to the egg tray conveyor line at the entrance of the inspection equipment. The egg tray that has passed the inspection equipment is then loaded into another empty egg cart by another robot. Nowadays, production is automated. The egg trolley is automatically transported to the designated location by the AGV cart for the robot to pick up and place the egg tray. Since there will be certain errors in the automatic transportation of the egg trolley by the AGV cart, and the same egg trolley will also have certain size deviations, and the robot's picking and placing actions are all performed according to a fixed trajectory. Faced with uncertain errors, the robot cannot automatically correct them, which will cause the robot to be unable to pick up and place the egg tray normally due to deviations, seriously affecting production efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic positioning device for an egg trolley in a vaccine production process, which can accurately position the egg trolley so that a robot can normally take and place egg trays, thereby improving production efficiency.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An automatic positioning device for an egg cart in a vaccine production process, characterized in that: it comprises an L-shaped positioning bracket 500, the long and short sides of the L-shaped positioning bracket 500 match the long and wide sides of the egg cart 300;

[0006] A front pressing mechanism 510 is provided on both inner and outer sides of the long side of the L-shaped positioning bracket 500, respectively, for pressing the egg cart 300 against the long side of the L-shaped positioning bracket 500;

[0007] A side pressing mechanism 520 is provided on the outer side of the long side of the L-shaped positioning bracket 500 for pressing the egg trolley 300 against the short side of the L-shaped positioning bracket 500 .

[0008] Furthermore, a row of guide wheels 501 are disposed on the upper and lower beams of the long side of the L-shaped positioning bracket 500 ; a row of first buffers 502 are disposed on the upper and lower beams of the short side of the L-shaped positioning bracket 500 .

[0009] Furthermore, the four corners of the long and short sides of the L-shaped positioning bracket 500 are provided with push cylinders 504; the upper or lower beams of the long and short sides of the L-shaped positioning bracket 500 are provided with detection sensors 503 for detecting whether there is an egg trolley 300 in the L-shaped positioning bracket 500.

[0010] Furthermore, the front clamping mechanism 510 includes a mounting plate 511, a first slide plate 512 and a second slide plate 515; the mounting plate 511 is fixedly mounted on the L-shaped positioning bracket 500, the first slide plate 512 is mounted on the mounting plate 511 through a first linear guide rail 513, and a first cylinder 514 is also provided on the mounting plate 511, and the first cylinder 514 is used to drive the first slide plate 512 to move forward and backward; the second slide plate 515 is mounted on the first slide plate 512 through a second linear guide rail 516, and a second cylinder 517 is installed on the first slide plate 512, and the second cylinder 517 is used to drive the second slide plate 515 to move left and right.

[0011] Furthermore, a second buffer 518 is provided on the first slide plate 512 , and a buffer baffle 519 is provided on the second slide plate 515 , and the buffer baffle 519 is opposite to the second buffer 518 .

[0012] Furthermore, the side clamping mechanism 520 includes a third slide plate 521, which is installed on the L-shaped positioning bracket 500 through a third linear guide rail 525, and the third slide plate 521 is driven to move forward and backward by a fourth cylinder 526; the third slide plate 521 is provided with a third cylinder 522, and the third cylinder 522 is provided with a side push plate 523, and the side push plate 523 is provided with a row of side rollers 524, and the third cylinder 522 is used to drive the side push plate 523 to move left and right.

[0013] Furthermore, the side clamping mechanism 520 displaces the bottom of the L-shaped positioning bracket 500, and the lower surface of the third slide plate 521 is further provided with a walking wheel 527, and the walking wheel 527 is in contact with the ground.

[0014] Furthermore, the positioning device also includes a distance measuring mechanism 540, which includes a lifting mechanism 530 and a lifting beam 541. The lifting beam 541 is installed on the lifting mechanism 530, and the lifting beam 541 is parallel to the long side of the L-shaped positioning bracket 500 for lifting and lowering; a seventh cylinder 545 is installed on the lifting beam 541, and a distance measuring sensor 546 is installed on the seventh cylinder 545. The seventh cylinder 545 is used to drive the distance measuring sensor 546 to move forward and backward, and the distance measuring sensor 546 is used to measure the distance between the distance measuring sensor 546 and the egg cart cross beam 320.

[0015] Furthermore, the positioning device also includes a guiding mechanism, which includes guide rods 544 with the same number as the angle steel longitudinal beam 310, one end of the guide rod 544 is wedge-shaped, and the other end is installed on the lifting beam 541 through the sixth cylinder 543, and the sixth cylinder 543 is used to drive the guide rod 544 to move left and right; the lifting beam 541 is connected to the lifting mechanism 530 through a fourth linear guide rail 534, and the lifting beam 541 is driven to move forward and backward through a fifth cylinder 542.

[0016] Furthermore, the lifting mechanism 530 includes two vertically arranged lifting rails 533 , and the lifting rails 533 are equipped with lifting sliders 532 . The lifting sliders 532 are driven by a lifting drive assembly 531 to move up and down along the lifting rails 533 .

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: the device of the present invention pushes the egg trolley toward the short side of the L-shaped positioning bracket through the side clamping mechanism to achieve left and right fixed positioning, and then pulls the egg trolley toward the long side of the L-shaped positioning bracket through the front clamping mechanism to achieve front and back fixed positioning, which can accurately position the egg trolley, enable the robot to normally take and place egg trays, and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the use of the automatic positioning device for the egg cart in the vaccine production process in the embodiment.

[0019] Figure 2 It is a schematic diagram of the back side of the automatic positioning device for the egg cart in the vaccine production process in the embodiment when in use.

[0020] Figure 3 1 is a front schematic diagram of an automatic positioning device for an egg cart in a vaccine production process in an embodiment.

[0021] Figure 4 yes Figure 3 A partial schematic diagram of the diagram (lower right corner).

[0022] Figure 5 1 is a schematic diagram of the back side of the automatic positioning device for the egg cart in the vaccine production process in the embodiment.

[0023] Figure 6 yes Figure 5 A partial schematic diagram of the diagram (lower right corner).

[0024] Figure 7 Schematic diagram of the front pressing mechanism in the embodiment.

[0025] Figure 8 Schematic diagram of the side clamping mechanism in the embodiment.

[0026] Fig. 9 Schematic diagram of the egg cart in the embodiment.

[0027] Fig.10 yes Fig. 9 Enlarged schematic diagram of part A in the middle.

[0028] In the figure: 100, robot; 200, AGV car;

[0029] 300, egg cart; 310, angle steel longitudinal beam; 320, egg cart cross beam; 400, egg tray;

[0030] 500, L-shaped positioning bracket; 501, guide wheel; 502, first buffer; 503, detection sensor; 504, push cylinder;

[0031] 510, front pressing mechanism; 511, mounting plate; 512, first slide plate; 513, first linear guide rail; 514, first cylinder; 515, second slide plate; 516, second linear guide rail; 517, second cylinder; 518, second buffer; 519, buffer baffle;

[0032] 520, side clamping mechanism; 521, third slide plate; 522, third cylinder; 523, side push plate; 524, side roller; 525, third linear guide rail; 526, fourth cylinder; 527, travel wheel;

[0033] 530, lifting mechanism; 531, lifting drive assembly; 532, lifting slider; 533, lifting guide rail; 534, fourth linear guide rail;

[0034] 540. Distance measuring mechanism; 541. Lifting beam; 542. Fifth cylinder; 543. Sixth cylinder; 544. Guide rod; 545. Seventh cylinder; 546. Distance measuring sensor. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Embodiment 1

[0037] like Figure 1 As shown, this embodiment designs an automatic positioning device for an egg trolley in a vaccine production process, including an L-shaped positioning bracket 500, wherein the long and short sides of the L-shaped positioning bracket 500 match the long and wide sides of the egg trolley 300.

[0038] like Figure 2 , 3 As shown, a front pressing mechanism 510 is provided on both inner and outer sides of the long side of the L-shaped positioning bracket 500 , located in the middle of the height direction, for pressing the egg trolley 300 against the long side of the L-shaped positioning bracket 500 .

[0039] like Figure 7 As shown, the front pressing mechanism 510 includes a mounting plate 511, a first slide plate 512 and a second slide plate 515; the mounting plate 511 is fixedly mounted on the L-shaped positioning bracket 500, the first slide plate 512 is mounted on the mounting plate 511 through a first linear guide rail 513, and a first cylinder 514 is also provided on the mounting plate 511, and the first cylinder 514 is used to drive the first slide plate 512 to move forward and backward; the second slide plate 515 is mounted on the first slide plate 512 through a second linear guide rail 516, and a second cylinder 517 is installed on the first slide plate 512, and the second cylinder 517 is used to drive the second slide plate 515 to move left and right. A second buffer 518 is also provided on the first slide plate 512, and a buffer baffle 519 is provided on the second slide plate 515, and the buffer baffle 519 is directly opposite to the second buffer 518, providing a buffer when the second slide plate 515 moves left and right to prevent collision.

[0040] like Figure 2 , 3 As shown, a side pressing mechanism 520 is further provided at the lower outer portion of the long side of the L-shaped positioning bracket 500 for pressing the egg trolley 300 against the short side of the L-shaped positioning bracket 500 .

[0041] like Figure 8As shown, the side clamping mechanism 520 includes a third slide plate 521, which is mounted on the L-shaped positioning bracket 500 through a third linear guide rail 525, and is driven to move forward and backward by a fourth cylinder 526; the third slide plate 521 is provided with a third cylinder 522, and the third cylinder 522 is provided with a side push plate 523, and the side push plate 523 is provided with a row of side rollers 524, and the third cylinder 522 is used to drive the side push plate 523 to move left and right. The side clamping mechanism 520 displaces the bottom of the L-shaped positioning bracket 500, and the lower surface of the third slide plate 521 is also provided with a walking wheel 527, and the walking wheel 527 is in contact with the ground.

[0042] like Figure 3 and 4 As shown, a row of guide wheels 501 are provided on the upper and lower beams of the long side of the L-shaped positioning bracket 500; a row of first buffers 502 are provided on the upper and lower beams of the short side of the L-shaped positioning bracket 500. Push cylinders 504 are provided at the four corners of the long and short sides of the L-shaped positioning bracket 500; and detection sensors 503 are provided on the upper or lower beams of the long and short sides of the L-shaped positioning bracket 500 to detect whether there is an egg cart 300 in the L-shaped positioning bracket 500.

[0043] The positioning process of the egg cart 300 by the positioning device in the above solution includes:

[0044] (1) The AGV trolley 200 moves the egg trolley 300 to the designated position (the L-shaped positioning bracket 500).

[0045] (2) The egg trolley 300 is fixed by the side clamping mechanism 520 and the front clamping mechanism 510. The fourth cylinder 526 of the side clamping mechanism 520 drives the third slide plate 521 to extend, and then the third cylinder 522 drives the side roller 524 to push the egg trolley 300 to move to the right, and the egg trolley 300 moves along the guide wheel 510; the detection sensor 503 detects the position of the egg trolley 300. The second slide plates 515 of the two front clamping mechanisms 510 extend under the drive of the first cylinder 514, and the second slide plates 515 move to one side of the egg trolley 300 and hook the egg trolley 300. Finally, the first cylinder 514 drives the second slide plate 515 to pull the egg trolley 300 back. Finally, the egg trolley 300 is close to the L-shaped positioning bracket 500, and the positioning is achieved.

[0046] (3) After the operation of the belt robot 100 is completed, the side clamping mechanism 520 and the front clamping mechanism 510 are reversed and withdrawn to their original positions, and the egg trolley 300 is pushed out by the push cylinder 504 and separated from the L-shaped positioning bracket 500, so that the subsequent AGV trolley 200 can transport the egg trolley 300 away.

[0047] Embodiment 2

[0048] like Fig. 9 and 10 Since there are errors in the production of the egg cart 300, even the egg carts 300 of the same model will have errors, especially the assembly errors of the egg cart cross beam 320 and the angle steel longitudinal beam 310. Therefore, in order for the robot 100 to accurately align when taking the egg tray, it is necessary to add a distance measuring mechanism 540 and a guiding mechanism on the basis of the solution of the first embodiment to deal with the assembly error, measure the error in time, and adjust the motion trajectory of the robot 100.

[0049] like Figure 3 , 4 As shown in , 5 and 6, the distance measuring mechanism 540 includes a lifting mechanism 530 and a lifting beam 541, the lifting beam 541 is installed on the lifting mechanism 530, and the lifting beam 541 is parallel to the long side of the L-shaped positioning bracket 500 to achieve lifting; a seventh cylinder 545 is installed on the lifting beam 541, and a distance measuring sensor 546 is installed on the seventh cylinder 545. The seventh cylinder 545 is used to drive the distance measuring sensor 546 to move forward and backward, and the distance measuring sensor 546 is used to measure the distance between the distance measuring sensor 546 and the egg cart cross beam 320.

[0050] like Figure 3 , 4 , 5 and 6, the positioning device also includes a guiding mechanism, which includes the same number of guide rods 544 as the angle steel longitudinal beam 310, one end of the guide rod 544 is wedge-shaped, and the other end is installed on the lifting beam 541 through the sixth cylinder 543, and the sixth cylinder 543 is used to drive the guide rod 544 to move left and right; the lifting beam 541 is connected to the lifting mechanism 530 through a fourth linear guide rail 534, and the lifting beam 541 is driven to move forward and backward through a fifth cylinder 542. The lifting mechanism 530 includes two vertically arranged lifting guide rails 533, and the lifting guide rails 533 are equipped with lifting sliders 532, and the lifting sliders 532 are driven by a lifting drive assembly 531 to move up and down along the lifting guide rails 533.

[0051] When using:

[0052] (1) After positioning the egg trolley 300, the lifting beam 541 ascends (or descends) according to the spacing between the standard egg trolley cross beams 320. Each time it ascends one level, the distance sensor 546 extends out to face the egg trolley cross beams 320, measures the distance, compares it with the standard spacing (i.e., the distance sensor 546 measured when facing the standard egg trolley 300), feeds back the error to the robot 100, and the robot makes corresponding adjustments in the height direction to accurately take out (or put in) the egg tray 400.

[0053] (2) When the robot 100 is coding a certain layer, the lifting beam 541 first moves to the layer, then extends all the guide rods 544 forward until the front end of the guide rod 544 is inserted into the angle steel longitudinal beam 310 for a certain distance, and finally the sixth cylinder 543 translates the guide rod 544 left and right, so that the guide rod 544 is close to the angle steel longitudinal beam 310, forming a trumpet-shaped insertion opening (such as Figure 6 The robot 100 slides the egg tray 400 along the wedge-shaped end of the guide rod 544 into the angle steel longitudinal beam 310 to complete the coding.

[0054] The beneficial effects of the present application include: automatic distance measurement and guiding action, feeding back the measured height data of each layer to the robot 100, and the robot automatically adjusts its position according to the data to adapt to the height deviation of the egg cart 300. When coding, the egg tray 400 slides in from the wedge-shaped end of the guide rod 544, solving the problem that the egg tray 400 is easy to get stuck due to small gap when coding.

[0055] The beneficial effects of the present invention include:

[0056] 1. The automatic positioning device for the egg trolley of the present application occupies a small area and has strong adaptability. Compared with the common tray encoding and unloading equipment, it has a simple structure and high stability.

[0057] 2. The egg trolley automatic positioning device of the present application can meet the requirements of fully automated production. The egg trolley is transported by an AGV trolley. The entire production process does not require human participation, has a high degree of automation, and is more convenient to inspect and maintain.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic positioning device for egg carts in vaccine production process, characterized in that: It comprises an L-shaped positioning bracket (500), wherein the long and short sides of the L-shaped positioning bracket (500) match the long and wide sides of the egg cart (300); A front pressing mechanism (510) is provided on both inner and outer sides of the long side of the L-shaped positioning bracket (500) for pressing the egg trolley (300) against the long side of the L-shaped positioning bracket (500); A side pressing mechanism (520) is provided on the outer side of the long side of the L-shaped positioning bracket (500) for pressing the egg trolley (300) against the short side of the L-shaped positioning bracket (500); A row of guide wheels (501) are provided on the upper and lower crossbeams of the long side of the L-shaped positioning bracket (500); a row of first buffers (502) are provided on the upper and lower crossbeams of the short side of the L-shaped positioning bracket (500); The front pressing mechanism (510) comprises a mounting plate (511), a first slide plate (512) and a second slide plate (515); the mounting plate (511) is fixedly mounted on the L-shaped positioning bracket (500); the first slide plate (512) is mounted on the mounting plate (511) via a first linear guide rail (513); a first cylinder (514) is further provided on the mounting plate (511); the first cylinder (514) is used to drive the first slide plate (512) to move forward and backward; the second slide plate (515) is mounted on the first slide plate (512) via a second linear guide rail (516); a second cylinder (517) is installed on the first slide plate (512); the second cylinder (517) is used to drive the second slide plate (515) to move left and right.

2. The automatic positioning device for egg carts in the vaccine production process according to claim 1, characterized in that: Push cylinders (504) are provided at the four corners of the long and short sides of the L-shaped positioning bracket (500); and detection sensors (503) are provided on the upper or lower crossbeams of the long and short sides of the L-shaped positioning bracket (500) for detecting whether there is an egg trolley (300) in the L-shaped positioning bracket (500).

3. The automatic positioning device for egg carts in the vaccine production process according to claim 1, characterized in that: A second buffer (518) is also provided on the first slide plate (512), and a buffer baffle (519) is provided on the second slide plate (515), wherein the buffer baffle (519) faces the second buffer (518).

4. The automatic positioning device for egg carts in the vaccine production process according to claim 1, characterized in that: The side clamping mechanism (520) comprises a third slide plate (521), the third slide plate (521) is mounted on the L-shaped positioning bracket (500) via a third linear guide rail (525), and the third slide plate (521) is driven to move forward and backward by a fourth cylinder (526); the third slide plate (521) is provided with a third cylinder (522), the third cylinder (522) is provided with a side push plate (523), the side push plate (523) is provided with a row of side rollers (524), and the third cylinder (522) is used to drive the side push plate (523) to move left and right.

5. The automatic positioning device for egg carts in the vaccine production process according to claim 4, characterized in that: The side clamping mechanism (520) displaces the bottom of the L-shaped positioning bracket (500), and the lower surface of the third slide plate (521) is further provided with a running wheel (527), and the running wheel (527) is in contact with the ground.

6. The automatic positioning device for egg carts in the vaccine production process according to claim 1, characterized in that: The positioning device further comprises a distance measuring mechanism (540), the distance measuring mechanism (540) comprising a lifting mechanism (530) and a lifting beam (541), the lifting beam (541) being mounted on the lifting mechanism (530), the lifting beam (541) being parallel to the long side of the L-shaped positioning bracket (500) for lifting and lowering; a seventh cylinder (545) being mounted on the lifting beam (541), a distance measuring sensor (546) being mounted on the seventh cylinder (545), the seventh cylinder (545) being used to drive the distance measuring sensor (546) to move forward and backward, the distance measuring sensor (546) being used to measure the distance between the distance measuring sensor (546) and the egg cart cross beam (320).

7. The automatic positioning device for egg carts in the vaccine production process according to claim 6, characterized in that: The positioning device further comprises a guiding mechanism, the guiding mechanism comprising the same number of guiding rods (544) as the angle steel longitudinal beam (310), one end of the guiding rod (544) being wedge-shaped, and the other end being mounted on the lifting beam (541) via a sixth cylinder (543), the sixth cylinder (543) being used to drive the guiding rod (544) to move left and right; the lifting beam (541) is connected to the lifting mechanism (530) via a fourth linear guide rail (534), and the lifting beam (541) is driven to move forward and backward via a fifth cylinder (542).

8. The automatic positioning device for egg carts in the vaccine production process according to claim 7, characterized in that: The lifting mechanism (530) comprises two vertically arranged lifting guide rails (533), on which a lifting slider (532) is provided, and the lifting slider (532) is driven by a lifting drive assembly (531) to move up and down along the lifting guide rails (533).

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