Egg tray conveying device capable of achieving frequent and stable starting and stopping and control method of egg tray conveying device

Abstract

The invention relates to the technical field of egg tray conveying, and provides an egg tray conveying device achieving frequent and stable starting and stopping and a control method thereof.The egg tray conveying device comprises a conveying platform, a plate chain and a first chain, and the plate chain and the first chain are arranged on the conveying platform and run in the same direction; the plate chain is used for carrying conveyed egg trays, and the conveying speed is smaller than the moving speed of the first chain; a push block is arranged on the first chain and used for pushing the conveyed egg trays. According to the conveying device, the accuracy of the stopping position of the egg tray is improved, the problems that an air chamber shakes easily when hatching eggs are started and stopped and the hatching eggs are damaged easily when the hatching eggs are started and stopped rapidly are solved, and the production efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field related to egg tray conveying, and in particular to an egg tray conveying device capable of realizing frequent and stable starting and stopping and a control method thereof. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] In modern hatcheries, the egg conveying system needs to be efficient while ensuring accurate positioning and safety. Most traditional egg tray conveying technologies rely on cylinders or reduction motors for conveying and positioning control. For scenarios with long conveying distances and infrequent starts and stops, cylinder drives or motor drives combined with blocking devices can meet the requirements and ensure that the egg trays are positioned as needed. Generally, these systems are suitable for applications where long-distance conveying or stopping does not require high precision. In the process of hatching eggs, the stability and reliability of the conveying system are key factors in ensuring hatching quality and efficiency.

[0004] The inventor found in the study that the existing conveying device is used to handle the conveying tasks that require short distance and frequent start and stop. For example, for high-frequency short-distance conveying that requires a distance of 40mm to 70mm each time, and an action once per second and more than 5 continuous actions, the traditional conveying method is prone to overshoot and damage to the eggs during the docking process, and the accuracy of the docking position cannot be guaranteed. At the same time, the traditional front blocking mode also requires a large space. In the embryo inspection link of the hatchery, the egg tray needs to be accurately docked at a specific position to match the embryo visual image acquisition device, and the error requirement of the stop position is high. The existing technology cannot effectively meet this high-precision, continuous and fast start and stop and avoid the need for egg breakage. In addition, the egg tray is prone to instability or stuck problems during the straight-line conveying process, which affects the conveying reliability. The cylinder and the first chain conveying of the partition will cause the eggs to shake during the high-speed start and stop process, increasing the risk of breakage. The traditional front blocking mode is not only prone to equipment damage, but also increases the risk of egg breakage. It can be seen that the existing conveying device has problems such as low accuracy of the egg tray position when starting and stopping quickly, easy shaking of the starting and stopping eggs, and easy damage to the eggs when starting and stopping quickly. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes an egg tray conveying device and a control method thereof that can realize frequent and stable starting and stopping. By providing a transport device with differential motion, the accuracy of the egg tray's docking position is improved, and the problems of easy air chamber shaking of the starting and stopping eggs and easy damage of the eggs when starting and stopping quickly are solved, thereby improving production efficiency.

[0006] In order to achieve the above objectives, the present disclosure adopts the following technical solutions: One or more embodiments provide an egg tray conveying device that can achieve frequent and stable starting and stopping, including a conveying platform, a plate chain and a first chain that are arranged on the conveying platform and run in the same direction; the plate chain is used to carry the conveyed egg tray, and the conveying speed is lower than the moving speed of the first chain; a push block is arranged on the first chain to push the conveyed egg tray.

[0007] One or more embodiments provide a control method for an egg tray conveying device that realizes frequent and stable start and stop, comprising the following steps: Configure the operating parameters of the servo motor according to the target parking position and parking time of the egg tray; According to the configured operating parameters, the servo motor is controlled to drive the plate chain and the first chain to run in the same direction; Based on the running position information of the egg tray, the servo motor is adjusted to perform dynamic acceleration and dynamic deceleration processes until the target stop position of the egg tray is reached.

[0008] Compared with the prior art, the present invention has the following beneficial effects: In the present disclosure, a plate chain and a first chain with differential motion are provided, and the egg tray is mounted on the plate chain. The plate chain runs in the same direction, but at a slower speed than the first chain, forming a differential motion. The plate chain moves slower to achieve precise control and positioning of the egg tray. The egg tray is pushed forward by the push block, and the first chain and the plate chain stop running. If there is no slippage, they stop at the position where the push block stops. If there is slippage, the egg tray stops as soon as possible through the friction of the plate chain, thereby improving the accuracy of the docking position. In addition, the speed of the plate chain is slower than that of the push block. Relatively speaking, the plate chain provides a backward friction force, which can ensure that the egg tray does not overshoot. The egg tray conveying device of this embodiment replaces the working mode of cylinder and reducer conveying, improves the accuracy and safety of egg tray transportation, and reduces the possibility of damage to the breeding eggs.

[0009] The advantages of the present disclosure and the advantages of additional aspects will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The exemplary embodiments of the present disclosure and the description thereof are used to explain the present disclosure but do not constitute a limitation of the present disclosure.

[0011] Figure 1 is a schematic structural diagram of an egg tray conveying device according to Embodiment 1 of the present disclosure; Figure 2 It is a structural schematic diagram of a first chain arrangement push block according to Embodiment 1 of the present disclosure; Figure 3 is a flow chart of a control method of Embodiment 2 of the present disclosure; Among them: 1. First chain, 2. Plate chain, 3. Push block, 4. Egg tray, 5. Conveying platform, 6. Servo motor, 7. Small gear, 8. Large gear; 3-1, the first push block, 3-2, the second push block, 3-3, the third push block, 3-4, the fourth push block, 3-5, the fifth push block, 3-6, the sixth push block. DETAILED DESCRIPTION

[0012] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0013] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0014] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof. It should be noted that, in the absence of conflict, the various embodiments in the present disclosure and the features in the embodiments can be combined with each other. The embodiments will be described in detail below in conjunction with the accompanying drawings.

[0015] Example 1 In the technical solutions disclosed in one or more embodiments, Figure 1 to Figure 2 As shown, an egg tray conveying device that can realize frequent and stable starting and stopping includes: a conveying platform 5, a plate chain 2 and a first chain 1 that run in the same direction and are arranged on the conveying platform 5; the plate chain 2 is used to carry the conveyed egg tray 4, and the conveying speed is lower than the moving speed of the first chain 1; a push block 3 is arranged on the first chain 1 to push the conveyed egg tray 4.

[0016] In this embodiment, a plate chain 2 with differential motion is provided ( Figure 1 Green in the middle) and the first chain 1 ( Figure 1In red), the egg tray 4 is mounted on the plate chain, the plate chain 2 runs in the same direction, but the speed is slower than the first chain 1, forming a differential motion. The plate chain 2 moves slower to achieve accurate control and positioning of the egg tray 4. The egg tray 4 is pushed forward by the push block 3, and the first chain 1 and the plate chain 2 stop running. If there is no slippage, they stop at the position where the push block 3 stops. If there is slippage, the egg tray stops as soon as possible through the friction of the plate chain, thereby improving the accuracy of the docking position. In addition, the speed of the plate chain is slower than that of the push block. Relatively speaking, the plate chain provides a backward friction force, which can ensure that the egg tray does not overshoot. The egg tray conveying device of this embodiment replaces the working mode of cylinder and reducer conveying, improves the accuracy and safety of egg tray transportation, and reduces the possibility of damage to the breeding eggs.

[0017] In some embodiments, Figure 2 As shown, push blocks 3 are arranged in pairs on the first chain 1, and the distance between each pair of push blocks 3 is greater than N times the length of the egg tray, and can be used to place N egg trays 4; Specifically, in the present embodiment, the first push block 3-1 and the fifth push block 3-5 are a pair; the fourth push block 3-4 and the sixth push block 3-6 are a pair; the second push block 3-2 and the third push block 3-3 are a pair, wherein the fifth push block 3-5, the fourth push block 3-4 and the second push block 3-2 play the role of pushing the egg tray 4, and the first push block 3-1, the sixth push block 3-6 and the third push block 3-3 ensure that the egg tray does not overshoot, and play the role of blocking protection.

[0018] In the above scheme, six push blocks are distributed on the first chain, and two push blocks that are far away from each other form a group. The distance between each group of push blocks is greater than the length of four egg trays. The egg tray is located between the two groups of push blocks and is pushed by the rear push block, while the front push block prevents the egg tray from overshooting. This design effectively avoids the space problem and egg tray damage risk caused by the traditional front blocking method.

[0019] In one achievable embodiment, the first chain 1 can be symmetrically arranged on both sides of the conveying platform 5 and on the outside of the plate chain 2, and the height of the first chain 1 is higher than the upper surface of the plate chain 2; the push block 3 is at the same height as the edge of the egg tray 4.

[0020] In some embodiments, the contact position between the egg tray 4 and the plate chain 2 can be set as needed. Preferably, both sides of the egg tray 4 are mounted on the plate chain 2. In the above scheme, the forces acting on the egg tray 4 include the thrust of the push block 3 and the friction force on the plate chain. The plate chain 2 runs in the same direction as the first chain 1, but its speed is slower than that of the first chain. When it stops, it is equivalent to removing the driving speed on the egg tray 4 in turn. By setting the speed ratio of the plate chain 2 and the first chain, high-frequency start and stop can be achieved within a short distance, ensuring that the breeding eggs will not shake during transportation, and can cooperate with the visual egg-candling equipment to achieve accurate image acquisition of the embryo.

[0021] In some embodiments, the first chain 1 and the plate chain 2 may use the same power device, or different power devices to achieve differential operation; In a specific implementation, the egg tray 4 and the plate chain 2 use the same power device, including a servo motor 6 and a gear transmission device, the gear transmission device includes a pinion 7 and a large gear 8, the pinion 7 and the large gear 8 rotate at the same linear speed; the pinion 7 drives the first chain 1, and the large gear 8 drives the plate chain 2; due to the different wheel diameters, the first chain 1 and the plate chain 2 driven by the pinion 7 and the large gear 8 form a differential motion; According to a further technical solution, the pinion 7 and the large gear 8 are meshed and connected; or, the pinion 7 and the large gear 8 are meshed and connected through a second chain transmission.

[0022] Optionally, the transmission ratio of the small gear 7 and the large gear 8 is set to 0.6 to 0.8; preferably, it can be set to 0.77; Optionally, the gear transmission device also includes a chain drive gear connected to the small gear 7, and a plate chain drive gear connected to the large gear 8; the chain drive gear and the plate chain drive gear can be the same size or in a certain proportion to further adjust the speed difference between the first chain 1 and the plate chain 2.

[0023] When in use, the servo motor 6 drives the rotating shaft connected to its power output end, and the rotating shaft is connected to the pinion 7. The pinion 7 and the large gear 8 are connected through the second chain. The pinion 7 and the large gear 8 rotate at the same meshing linear speed, but due to different radii and numbers of teeth, their angular velocities are different, forming a transmission ratio. The pinion 7 drives the first chain 1, and the large gear 8 drives the plate chain 2, so that the first chain 1 and the plate chain 2 form a differential motion. The pinion 7 and the large gear 8 are connected through the second chain transmission. The gear with a smaller wheel diameter drives the first chain 1 to move, and the gear with a larger wheel diameter drives the plate chain 2 to move, so that the first chain 1 and the plate chain 2 driven by the pinion 7 and the large gear 8 form a differential motion. Push blocks 3 are installed on the chains on both sides for contact positioning of the egg tray. When the servo system starts to operate, it drives the rotating shaft to rotate, and the rotating shaft drives the pinion 7 to rotate, and the large gear 8 connected by the plate chain 2 and the pinion 7 also starts to rotate. The egg tray 4 moves with the plate chain 2 due to friction, and due to the differential movement between the plate chain 2 and the first chain 1, the push block 3 on the first chain 1 will catch up with the egg tray and push the egg tray to the specified position. The servo motor stops operating when the egg tray reaches the specified position.

[0024] The same power device can realize the simultaneous start and stop control of the plate chain 2 and the first chain 1, while reducing the number of drive devices. Another feasible implementation method is that the plate chain 2 and the first chain 1 are respectively connected to a servo motor 6, and the running speeds of the plate chain 2 and the first chain 1 are controlled by two servo motors to achieve differential operation of the plate chain 2 and the first chain 1.

[0025] In some embodiments, a controller is further included, and the controller is connected to the servo motor 6 to control the operation of the servo motor 6; Optionally, the control system of the egg candling equipment is communicatively connected to the control module, and the control module realizes linkage control of the egg tray conveying control of the servo motor and the egg candling equipment. When the egg tray reaches the predetermined position and automatically completes the photo taking, the egg tray can continue to be pushed.

[0026] Furthermore, the controller used is provided with a vibration suppression function module to realize the rapid start and stop control of the egg tray. The controller is not limited to PLC, and can realize smooth operation throughout the whole process according to the vibration suppression algorithm to ensure that the embryo eggs do not shake violently in the egg tray. The vibration suppression parameters are set in the automatic tray feeding device and the egg candling device in sequence along the transmission direction to ensure that the egg tray starts and stops smoothly along the transmission direction. The control system of the egg candling equipment is connected to the vibration suppression module signal, and the control system can open and close the vibration suppression module as needed to ensure the stability of the egg tray.

[0027] It can be understood that the structure of the conveying platform 5 can be any structure, and can be a bench-type structure, including a support platform and legs, a table surface for conveying egg trays 4 is arranged on the support platform, and a first chain 1 and a plate chain 2 are arranged on both sides of the table surface; Optionally, the legs of the conveying platform may be configured as movable structures, such as rollers, universal wheels, etc.

[0028] This device is suitable for various types of egg trays, including 36-type, 42-type, 84-type and 150-type.

[0029] In this embodiment, during the frequent start and stop of the egg tray, each time the device moves a set distance, it starts at high speed and stops quickly. Since the push block 3 is rigidly connected to the servo motor 6, it can achieve the same precise start and stop position as the servo motor 6. However, since the egg tray 4 driven by the push block 3 is not rigidly connected to the push block 3, it often has overshoot and can only stop by its own friction. The overshoot force is buffered by the plate chain 2 running in the same direction, thereby improving the stable control and precise positioning of the egg tray.

[0030] The differential transport structure provided in this embodiment can realize frequent high-speed transport and short-distance precise start and stop, making the efficiency of egg candling more efficient and the accuracy of egg candling higher. It ensures that the egg tray runs smoothly during the entire transportation process, reduces the violent vibration of the breeding eggs, reduces the damage of the breeding eggs on the assembly line, and improves the efficiency of the breeding egg candling assembly line.

[0031] Example 2 Based on Example 1, this embodiment provides a control method for an egg tray conveying device that can achieve frequent and stable start and stop, such as Figure 3 As shown, the following steps are included: Step 1: According to the target parking position and parking time of the egg tray, the operating parameters of the servo motor 6 are configured, including the operating time, the relative operating distance, the maximum operating speed limit, etc.; The running time is determined by the actual speed of the motor and the relative position of the motor. For example, if the egg tray needs to move forward 1 meter and the actual speed of the motor is 0.4m / s, the configured running time is at least 2.5 seconds. The running time is calculated to ensure that the motor runs within a reasonable range to avoid vibration or instability caused by excessive speed.

[0032] Maximum operating speed limit: Set the maximum speed limit of the motor according to the operating distance to ensure stability and flexibility during egg tray transportation.

[0033] Step 2: According to the configuration, the control servo motor 6 drives the plate chain 2 and the first chain 1 to run in the same direction; Due to the speed difference between the chain and the plate chain, the plate chain is slower and can help control the precise movement of the egg tray; by accurately controlling the speed of the motor, the motor can stably drive the chain and push block to achieve stable transportation of the egg tray.

[0034] Step 3: Based on the running position information of the egg tray, the servo motor 6 is adjusted to perform dynamic acceleration and dynamic deceleration processes until the target stop position of the egg tray is reached; Further, in step 3, the dynamic acceleration controls the servo motor 6 to gradually accelerate according to the set relative running distance; the acceleration is adjusted dynamically according to the speed signal of the first chain 1 fed back in real time; specifically, the dynamic acceleration adjustment includes the following steps: Step 31, setting the distance point A at which the maximum speed is reached according to the relative running distance; Step 32, judging the distance difference between the current position and the set distance point A according to the current acceleration and speed of the first chain 1 and the running time; Step 33, judging whether the egg tray 4 can reach the set maximum operating speed limit from the set distance point A based on the current speed, acceleration and distance difference, if so, running at the current acceleration, otherwise adjusting the acceleration value; Optionally, in the initial stage of the operation of the servo motor 6, the acceleration of the servo motor 6 is set to a higher value to quickly reach the set rated speed, but it must be ensured that the acceleration does not exceed the load capacity of the motor.

[0035] After accelerating to the maximum speed, it can run at the maximum speed limit for a period of time, and then enter deceleration, or directly enter deceleration; Further, controlling the servo motor 6 to dynamically decelerate the egg tray comprises the following steps: Step 3-1, determine the starting position of deceleration according to the current position and target position of the egg tray and the current running speed; Step 3-2, during the deceleration process, the acceleration is gradually reduced according to the set change value, and it is determined in real time whether the change value of the acceleration that is reduced in sequence can be docked to the target position of the egg tray. If so, the change of the acceleration is controlled according to the current change value, otherwise the change value of the acceleration is further increased; It should be noted that during the deceleration process, the acceleration is added in the opposite direction. If the running direction is the positive direction, the acceleration during the deceleration process is a negative value. For example, if the change value of the successively decreasing acceleration is 1, then during the deceleration process, the acceleration values ​​are -3, -2, and -1. Such changes can improve the stability of speed changes.

[0036] Preferably, when the motor starts to decelerate, the acceleration of the deceleration is adjusted in time to make the deceleration process smoother and avoid the impact caused by excessive deceleration.

[0037] Through the above control method, the egg tray conveying system can suppress vibration and ensure smooth operation during frequent start-stop through fine acceleration and deceleration control, acceleration and deceleration adjustment. This method not only improves the accuracy of egg conveying, reduces vibration and breakage, but also significantly improves the stability and reliability of the conveying system. It is suitable for various types of egg trays without model restrictions. This control method has significant practical application value for improving production efficiency, reducing egg damage rate, and achieving high-speed frequent start-stop and precise positioning.

[0038] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

[0039] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. An egg tray conveying device that can realize frequent and stable start and stop, characterized in that: It comprises a conveying platform, a plate chain and a first chain arranged on the conveying platform and running in the same direction; the plate chain is used to carry the conveyed egg tray, and the conveying speed is lower than the moving speed of the first chain; a push block is arranged on the first chain to push the conveyed egg tray.

2. An egg tray conveying device capable of realizing frequent and stable start and stop according to claim 1, characterized in that: The first chain is provided with push blocks in pairs, and the distance between each pair of push blocks is greater than a multiple of the length of the egg tray.

3. The egg tray conveying device capable of realizing frequent and stable start and stop according to claim 1, characterized in that: The first chains are symmetrically arranged on both sides of the conveying platform and outside the plate chain. The height of the first chains is higher than the upper surface of the plate chain. The push block is at the same height as the egg tray edge of the egg tray.

4. The egg tray conveying device capable of realizing frequent and stable start and stop according to claim 1, characterized in that: The first chain and the plate chain use the same power device or different power devices to achieve differential operation.

5. The egg tray conveying device capable of realizing frequent and stable start and stop according to claim 4, characterized in that: The egg tray and the plate chain use the same power device, including a servo motor and a gear transmission device. The gear transmission device includes a large gear and a small gear. The large gear and the small gear rotate at the same linear speed. The small gear drives the first chain to rotate, and the large gear drives the plate chain to rotate.

6. An egg tray conveying device capable of realizing frequent and stable start and stop according to claim 5, characterized in that: The transmission ratio between the large gear and the small gear is set to 0.

77.

7. The egg tray conveying device capable of realizing frequent and stable start and stop according to claim 1, characterized in that: The utility model also comprises a controller, which is connected with the servo motor to control the operation of the servo motor; the adopted controller is provided with a vibration suppression function module to realize the rapid start and stop control of the egg tray.

8. A control method for an egg tray conveying device that realizes frequent and stable start and stop according to any one of claims 1 to 7, characterized in that: The steps include: Configure the operating parameters of the servo motor according to the target parking position and parking time of the egg tray; According to the configured operating parameters, the servo motor is controlled to drive the plate chain and the first chain to run in the same direction; Based on the running position information of the egg tray, the servo motor is adjusted to perform dynamic acceleration and dynamic deceleration processes until the target stop position of the egg tray is reached.

9. The control method according to claim 8, characterized in that: Dynamic acceleration adjustment includes the following steps: Set the distance point A where the maximum speed is reached according to the relative running distance; The distance difference between the current position and the set distance point A is determined according to the current acceleration and speed of the first chain and the running time; Based on the current speed, acceleration and distance difference, determine whether the egg tray can reach the set maximum operating speed limit from the set distance point A. If so, run at the current acceleration, otherwise adjust the acceleration value.

10. The control method according to claim 8, characterized in that: The dynamic deceleration process includes the following steps: Determine the starting position of deceleration according to the current position and target position of the egg tray and the current running speed; During the deceleration process, the acceleration is gradually reduced according to the set change value, and it is judged in real time whether the target position of the egg tray can be docked according to the successively reduced acceleration change value. If so, the change of acceleration is controlled according to the current change value, otherwise the change value of acceleration is further increased.

Images