Egg tray conveying device and control method thereof

Abstract

The present disclosure relates to the technical field of egg tray conveying, and discloses an egg tray conveying device capable of frequent stable start and stop and a control method thereof. The conveying device 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 for carrying the conveyed egg tray, and the conveying speed is less than the moving speed of the first chain. A push block is arranged on the first chain and used for pushing the conveyed egg tray. The conveying device improves the accuracy of the egg tray parking position, solves the problems of air chamber shaking of the start and stop of the egg, breakage of the egg caused by the fast start and stop, and the like, and improves the production efficiency.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of egg tray conveying, in particular to an egg tray conveying device capable of frequent and stable start-stop and a control method thereof. BACKGROUND

[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 air cylinders or reduction motors for conveying and positioning control. For scenarios with large conveying distances and infrequent start-stop, air cylinder drive or motor drive combined with blocking devices can meet the requirements and ensure that the egg tray is positioned as needed. Generally, these systems are suitable for longer distance conveying or applications that do not require high precision during stopping. During the egg process, the stability and reliability of the conveying system are key factors in ensuring the quality and efficiency of hatching.

[0004] The inventor found in the research that the existing conveying device cannot effectively meet the needs of high-precision, continuous rapid start-stop and avoid egg breakage when handling short-distance, frequent start-stop conveying tasks. For example, for high-frequency short-distance conveying that requires a distance of 40mm to 70mm per advance and acts once per second, continuous action for more than 5 times, the traditional conveying method is prone to overshoot and damage to the eggs during stopping, and cannot guarantee the accuracy of the stopping position. At the same time, the traditional front blocking mode also requires a larger space. In the embryo inspection link of the hatchery, the egg tray needs to be accurately stopped at a specific position to match the embryo visual image acquisition device, and the error requirement of the stopping position is high. The existing technology cannot effectively meet the needs of high precision, continuous rapid start-stop and avoid egg breakage. In addition, the egg tray is prone to instability or jamming during straight-line conveying, affecting the reliability of conveying, and the cylinder and baffle first chain conveying can cause the eggs to shake during high-speed start-stop, increasing the risk of breakage. The traditional front blocking mode not only easily causes equipment damage, but also increases the risk of egg breakage. Therefore, the existing conveying device has the problems of low accuracy of the position of the rapidly started and stopped egg tray, easy shaking of the started and stopped eggs, and easy breakage of the eggs during rapid start-stop. SUMMARY

[0005] To solve the above problems, the present disclosure provides an egg tray conveying device capable of frequent and stable start-stop and a control method thereof. By setting a transportation device with differential motion, the accuracy of the egg tray stopping position is improved, the problems of easy shaking of the started and stopped eggs, and easy breakage of the eggs during rapid start-stop are solved, and the production efficiency is improved.

[0006] To achieve the above purpose, the present disclosure adopts the following technical solutions:

[0007] One or more embodiments provide an egg tray conveying device for frequent and stable start-stop, comprising 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 less than the moving speed of the first chain; a push block is arranged on the first chain to push the conveyed egg tray.

[0008] One or more embodiments provide a control method of the above-mentioned egg tray conveying device for frequent and stable start-stop, comprising the following steps:

[0009] According to the target parking position of the egg tray and the parking time, the running parameters of the servo motor are configured;

[0010] According to the configured running parameters, the servo motor drives the plate chain and the first chain to run in the same direction;

[0011] Based on the running position information of the egg tray, the servo motor performs dynamic acceleration and dynamic deceleration processes until the target stop position of the egg tray is reached.

[0012] Compared with the prior art, the beneficial effects of the present disclosure are:

[0013] In the present disclosure, the plate chain and the first chain with differential motion are arranged, the egg tray is carried on the plate chain, the plate chain runs in the same direction, but the speed is slower than that of the first chain, forming differential motion, and the plate chain moves slowly to realize accurate 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 slip, it will stop according to the position of the push block; if there is slip, the egg tray will stop as soon as possible through the friction of the plate chain, thereby improving the accuracy of the parking position. In addition, the speed of the plate chain is slower than that of the push block, and relatively speaking, the plate chain provides a backward friction force to ensure that the egg tray does not overshoot. The egg tray conveying device of the present embodiment replaces the working mode of the air cylinder and the reducer conveying, improves the accuracy and safety of the egg tray transportation, and reduces the possibility of egg breakage.

[0014] 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 DRAWINGS

[0015] The drawings accompanying the specification of the present disclosure serve to provide a further understanding of the present disclosure, and the illustrative embodiments of the present disclosure and their descriptions serve to explain the present disclosure, and do not constitute limitations on the present disclosure.

[0016] Figure 1 is a structural schematic diagram of an egg tray conveying device of embodiment 1 of the present disclosure;

[0017] Figure 2 is a structural schematic diagram of the first chain of embodiment 1 of the present disclosure provided with a push block;

[0018] Figure 3 is a flow chart of the control method of embodiment 2 of the present disclosure;

[0019] 1, first chain, 2, plate chain, 3, push block, 4, egg tray, 5, conveying platform, 6, servo motor, 7, small gear, 8, large gear;

[0020] 3-1, first push block, 3-2, second push block, 3-3, third push block, 3-4, fourth push block, 3-5, fifth push block, 3-6, sixth push block. DETAILED DESCRIPTION

[0021] The present disclosure will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present disclosure. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs.

[0023] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present disclosure. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a presence of a feature, step, operation, device, component, and / or combinations thereof. It should be noted that the various embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict. The embodiments will be described in detail below in conjunction with the accompanying drawings.

[0024] Embodiment 1

[0025] In the technical solutions disclosed in one or more embodiments, as shown in Figures 1 to 2 An egg tray conveying device for frequent stable start-stop includes a conveying platform 5, a plate chain 2 and a first chain 1 arranged on the conveying platform 5 and running in the same direction; the plate chain 2 is used to carry the conveyed egg tray 4, and the conveying speed is less than the moving speed of the first chain 1; the first chain 1 is provided with a push block 3 for pushing the conveyed egg tray 4.

[0026] In this embodiment, the plate chain 2 (green in Figure 1 ) and the first chain 1 (blue in Figure 1The first chain 1 and the plate chain 2 run in the same direction, but the speed of the plate chain 2 is slower than that of the first chain 1, forming differential motion, and the plate chain 2 moves relatively slowly 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 slip, the egg tray 4 stops at the position where the push block 3 stops. If there is slip, the egg tray 4 is stopped as soon as possible by the friction of the plate chain, thereby improving the accuracy of the stopping position. In addition, the speed of the plate chain is slower than that of the push block, and relatively speaking, the plate chain provides a backward friction force to ensure that the egg tray does not overshoot. The egg tray conveying device of the embodiment replaces the conveying mode of the air cylinder and the speed reducer, improves the accuracy and safety of the egg tray transportation, and reduces the possibility of egg breakage.

[0027] In some embodiments, as shown in Figure 2 The distance between each pair of push blocks 3 is greater than N times the length of the egg tray, which can be used to place N egg trays 4.

[0028] Specifically, in the embodiment, the first push block 3-1 and the fifth push block 3-5 form a pair, the fourth push block 3-4 and the sixth push block 3-6 form a pair, and the second push block 3-2 and the third push block 3-3 form a pair. The fifth push block 3-5, the fourth push block 3-4, and the second push block 3-2 function to push the egg tray 4, and the first push block 3-1, the sixth push block 3-6, and the third push block 3-3 function to prevent the egg tray from overshooting and to block and protect.

[0029] In the above scheme, six push blocks are distributed on the first chain, and two adjacent push blocks with a long distance 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. The front push block functions to prevent the egg tray from overshooting. This design effectively avoids the space problem and the risk of egg tray breakage caused by the traditional front blocking method.

[0030] In one embodiment, the first chain 1 can be symmetrically arranged on both sides of the conveying platform 5 and outside the plate chain 2. The height of the first chain 1 is higher than the upper surface of the plate chain 2. The height of the push block 3 is the same as the edge of the egg tray 4.

[0031] In some embodiments, the contact position of the egg tray 4 and the plate chain 2 can be set as needed. Preferably, the egg tray 4 is carried on both sides of the plate chain 2.

[0032] In the above scheme, the force on the egg tray 4 includes the pushing force of the pushing block 3 and the friction force on the plate chain 2, the plate chain 2 runs in the same direction as the first chain 1, but the speed of the plate chain 2 is slower than that of the first chain 1, and when stopped, it is equivalent to removing the driving speed from the egg tray 4 in sequence. By setting the speed ratio of the plate chain 2 and the first chain 1, high-frequency start-stop can be realized in a short distance, ensuring that the eggs will not shake during transportation, and can cooperate with the visual egg inspection equipment to realize accurate image acquisition of the embryos.

[0033] In some embodiments, the first chain 1 and the plate chain 2 can use the same power device, or different power devices to realize differential operation;

[0034] 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 gear 8, the pinion 7 and the gear 8 rotate at the same linear speed; the pinion 7 drives the first chain 1, and the 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 gear 8 form differential motion;

[0035] Further technical solutions, the pinion 7 and the gear 8 are meshed and connected; or, the pinion 7 and the gear 8 are meshed and connected through a second chain transmission.

[0036] Optionally, the transmission ratio of the pinion 7 and the gear 8 is set to 0.6 to 0.8; preferably, it can be set to 0.77;

[0037] Optionally, the gear transmission device further includes a chain drive gear connected to the pinion 7, and a plate chain drive gear connected to the gear 8; the chain drive gear and the plate chain drive gear can be the same size, or can be in a certain proportion, to further adjust the speed difference between the first chain 1 and the plate chain 2.

[0038] In use, the servo motor 6 drives the power output end connected to the rotating shaft, the rotating shaft is connected to the pinion 7, the pinion 7 and the gear 8 are connected by the second chain, the pinion 7 and the gear 8 rotate at the same meshing line speed, but due to the different radius and the number of teeth, the angular velocity is different, forming a transmission ratio. The pinion 7 drives the first chain 1, and the gear 8 drives the plate chain 2, so that the first chain 1 and the plate chain 2 form differential motion. The pinion 7 and the gear 8 are connected by the second chain, the smaller diameter gear drives the first chain 1 to move, and the larger diameter gear 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 gear 8 form differential motion. The push block 3 is installed on the two side chains, which is used for egg tray contact positioning. When the servo system starts to work, the rotating shaft is driven to rotate, the rotating shaft drives the pinion 7 to rotate, and the gear 8 connected by the plate chain 2 and the pinion 7 also starts to rotate. The egg tray 4 follows the plate chain 2 due to the friction force, and the push block 3 on the first chain 1 will catch up with the egg tray and push the egg tray to the designated position due to the differential motion of the plate chain 2 and the first chain 1. The servo motor stops working when the egg tray reaches the designated position.

[0039] The same power device can realize the simultaneous start-stop control of the plate chain 2 and the first chain 1, and the number of drive device settings is reduced;

[0040] In another implementation mode, the plate chain 2 and the first chain 1 are respectively connected to a servo motor 6, and the running speed of the plate chain 2 and the first chain 1 is controlled by two servo motors to realize the differential operation of the plate chain 2 and the first chain 1.

[0041] In some embodiments, a controller is further included, which is connected with the servo motor 6 to control the operation of the servo motor 6;

[0042] Optionally, the control system of the egg photographing equipment is connected in communication with the control module, the egg tray conveying control of the servo motor by the control module is linked with the egg photographing equipment, and the egg tray can be continuously pushed after the egg tray reaches the predetermined position and automatically completes the photographing.

[0043] Further, the controller is provided with a vibration suppression function module to realize the rapid start-stop control of the egg tray. The controller is not limited to PLC, and can realize the whole process smooth operation 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 sequentially arranged in the transmission direction of the automatic disc feeding device and the egg photographing device to ensure the smooth start-stop of the egg tray in the transmission direction. The control system of the egg photographing equipment is connected in signal with the vibration suppression module, and the control system can start and stop the vibration suppression module as needed to ensure the stability of the egg tray.

[0044] It can be understood that the structure of the conveying platform 5 can be any structure, which can be a gantry structure including a support platform and a support leg, a table surface for conveying the egg tray 4 is arranged on the support platform, and the first chain 1 and the plate chain 2 are arranged on both sides of the table surface;

[0045] Optionally, the support leg of the conveying platform can be arranged as a movable structure, such as a roller, a universal wheel, etc.

[0046] The device is suitable for various types of egg trays, including 36, 42, 84, and 150 types, etc.

[0047] In this embodiment, during the frequent start-stop process of the egg tray, the device needs to be started and stopped at a high speed for a set distance each time. The push block 3 is rigidly connected with the servo motor 6 and can achieve the same accurate start-stop position as the servo motor 6. However, the egg tray 4 driven by the push block 3 is not rigidly connected with the push block 3 and often overshoots, which needs to rely on its own friction to stop. The overstroke force is buffered by the plate chain 2 running in the same direction, which improves the stable control and accurate positioning of the egg tray running.

[0048] The differential conveying structure provided in this embodiment can realize frequent high-speed conveying, accurate start-stop in a short distance, make the egg setting more efficient, and the accuracy of egg setting is higher. It ensures the stable running of the egg tray during the whole conveying process, reduces the violent vibration of the egg, reduces the damage of the egg in the assembly line, and improves the efficiency of the egg setting assembly line.

[0049] Embodiment 2

[0050] Based on embodiment 1, this embodiment provides a control method for realizing frequent and stable start-stop of the egg tray conveying device, as shown in Figure 3 The method comprises the following steps:

[0051] Step 1: According to the target parking position of the egg tray and the parking time, the running parameters of the servo motor 6 are configured, including the running time, the running relative distance, the running maximum limit speed, etc.

[0052] The running time is determined according to the actual speed of the motor and the running relative position. For example, if the egg tray needs to advance 1 meter and the actual speed of the motor is 0.4 m / 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, avoiding vibration or instability due to too fast speed.

[0053] The running maximum limit speed: The maximum speed of the motor is set according to the running distance to ensure the stability and flexibility of the egg tray conveying process.

[0054] Step 2: According to the configured control, the servo motor 6 drives the plate chain 2 and the first chain 1 to run in the same direction;

[0055] Due to the speed difference between the chain and the plate chain, the plate chain is slower, which can help control the precise movement of the egg tray; by precisely controlling the rotation speed of the motor, the motor can stably drive the chain and the push block, realizing stable conveying of the egg tray.

[0056] Step 3, based on the running position information of the egg tray, adjust the servo motor 6 to perform a dynamic acceleration and dynamic deceleration process until the target stop position of the egg tray is reached;

[0057] Further, in step 3, the dynamic acceleration gradually accelerates the servo motor 6 according to the set running relative distance; the adjustment of the acceleration is dynamically adjusted according to the real-time feedback of the speed signal of the first chain 1; specifically, the dynamic acceleration adjustment includes the following steps:

[0058] Step 31, set the distance point A at which the maximum speed is reached according to the running relative distance;

[0059] Step 32, determine 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;

[0060] Step 33, determine whether the egg tray 4 can reach the set running maximum limit speed at the set distance point A according to the current speed, acceleration and distance difference, if yes, run at the current acceleration, otherwise adjust the value of the acceleration;

[0061] 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 carrying capacity of the motor.

[0062] After accelerating to the highest speed, it can run at the maximum limit speed for a period of time, and then enter the deceleration, or directly enter the deceleration;

[0063] Further, the dynamic deceleration process of the servo motor 6 to the egg tray includes the following steps:

[0064] Step 3-1, determine the start position of the deceleration according to the current position and the target position of the egg tray and the current running speed;

[0065] Step 3-2, gradually reduce the acceleration according to the set change value during the deceleration process, and determine in real time whether the target position of the egg tray can be stopped according to the change value of the acceleration which is gradually reduced, if yes, control the change of the acceleration according to the current change value, otherwise further increase the change value of the acceleration;

[0066] It should be noted that the reverse acceleration is added in the deceleration process, if the running direction is positive, the acceleration in the deceleration process is negative; for example, if the change value of the acceleration is 1, then the value of the acceleration in the deceleration process is -3, -2, -1; such change can improve the stability of the speed change.

[0067] Preferably, when the motor starts to decelerate, the acceleration for deceleration is adjusted in time, so that the deceleration process is smoother, and the impact caused by too fast deceleration is avoided.

[0068] Through the above control method, the egg tray conveying system can suppress vibration and ensure smooth running through fine acceleration and deceleration control, acceleration and deceleration adjustment in the process of frequent start and stop. The method not only improves the accuracy of the egg conveying, reduces the vibration and damage, but also significantly improves the stability and reliability of the conveying system, which is suitable for various types of egg trays and is not limited by the model. This control method has significant practical application value for improving production efficiency, reducing egg damage rate and realizing high-speed and frequent start-stop precise positioning.

[0069] The above only describes the preferred embodiments of the present disclosure and is not used to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

[0070] The above describes the specific embodiments of the present disclosure in combination with the drawings, but is not a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications or changes made on the basis of the technical solutions of the present disclosure without creative labor are still within the protection scope of the present disclosure.

Claims

1. An egg tray conveyor for enabling frequent stable start-stop, characterized in that: The egg tray conveying device comprises a conveying platform, a first chain and a plate 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 less than the moving speed of the first chain; A push block is arranged on the first chain to push the conveyed 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 slip, the egg tray stops at the position where the push block stops, if there is slip, the egg tray is stopped as soon as possible through the friction of the plate chain, so that the accuracy of the stopping position is improved; The first chain is symmetrically arranged on both sides of the conveying platform and outside the plate chain, the height of the first chain is higher than the upper surface of the plate chain, and the push block is at the same height as the edge of the egg tray; A pair of push blocks are arranged on the first chain, and the distance between the push blocks is greater than the multiple of the length of the egg tray.

2. An egg tray conveyor for achieving frequent stable start-stop as claimed in claim 1 wherein: The first chain and the plate chain adopt the same power device or different power devices to realize differential operation.

3. An egg tray conveyor for achieving frequent stable start-stop as claimed in claim 2 wherein: The first chain and the plate chain adopt the same power device, which comprises a servo motor and a gear transmission device, the gear transmission device comprises 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.

4. An egg tray conveyor for achieving frequent stable start-stop as claimed in claim 3 wherein: The transmission ratio of the large gear and the small gear is 0.

77.

5. An egg tray conveyor for achieving frequent stable start-stop as claimed in claim 3 wherein: The controller is connected with the servo motor to control the operation of the servo motor, the controller is provided with a vibration suppression function module to realize the rapid start-stop control of the egg tray.

6. A control method of an egg tray conveying apparatus for realizing frequent stable start and stop according to any one of claims 1 to 5, characterized in that, The method comprises the following steps: According to the target parking position and the parking time of the egg tray, the operation parameters of the servo motor are configured; The servo motor drives the plate chain and the first chain to run in the same direction according to the configured operation parameters; Based on the running position information of the egg tray, the servo motor executes a dynamic acceleration process and a dynamic deceleration process until the target stop position of the egg tray is reached.

7. The control method according to claim 6, wherein: The dynamic acceleration adjustment comprises the following steps: According to the running relative distance, a distance point A reaching the maximum speed is set; According to the current acceleration and speed of the first chain and the running time, the distance difference between the current position and the set distance point A is judged; Whether the egg tray can reach the set maximum running speed limit at the set distance point A is judged according to the current speed, acceleration and distance difference, if yes, the current acceleration is run, otherwise the value of the acceleration is adjusted.

8. The control method according to claim 6, wherein: The dynamic deceleration process comprises the following steps: According to the current position and the target position of the egg tray and the current running speed, the starting position of the deceleration is determined; Whether the egg tray can stop at the target position according to the gradually reduced acceleration change value is judged, if yes, the change of the acceleration is controlled according to the current change value, otherwise the change value of the acceleration is further increased.

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