Mechanical hand clamp for egg tray transfer

Abstract

The utility model discloses a kind of manipulator clamps for egg tray transfer, including mounting bracket, manipulator connecting piece is equipped in the top of the mounting bracket, one clamping plate is respectively equipped in the two symmetrical sides of the mounting bracket, two sides clamping plate is respectively connected with one telescopic cylinder, under the synchronous telescopic motion of two telescopic cylinders, two sides clamping plate can realize opening and closing movement;Inverted L type pressing plate is respectively equipped in the bottom of mounting bracket and the two sides adjacent to clamping plate, the horizontal portion of the inverted L type pressing plate and the bottom of mounting bracket are adjustable type fixed connection.Carry out the automation operation of the egg tray transfer by the manipulator clamp provided in the utility model to the end of manipulator, can ensure that egg tray stress is uniform, can realize to full poultry egg egg tray nondestructive transfer, safety is good, in addition, the utility model also has the advantages such as simple structure, easy to disassemble and maintain, strong universality, to batch poultry egg realizes nondestructive automation transfer and packing has remarkable value.

Description

Technical Field

[0001] This utility model relates to a robotic gripper for transferring egg trays, belonging to the field of automation technology. Background Technology

[0002] With the development of automation technology, various industries are researching and developing robotic arm technologies to replace traditional manual operations. In large-scale farms, a large number of poultry eggs are transported daily. Traditionally, the eggs are placed one by one onto egg trays, and then the trays are manually placed into packaging boxes. Although manual operation can ensure that each egg is packaged with minimal damage, it has obvious drawbacks such as being time-consuming, labor-intensive, inefficient, and labor-intensive, as well as high labor costs, and cannot meet the needs of today's modern, efficient packaging.

[0003] To meet the aforementioned requirements for automated boxing, existing patent CN202322320597.5 discloses an egg boxing machine, comprising: a roller conveyor for conveying boxes; a ball-bearing mesh chain conveyor for conveying egg trays; and an egg tray boxing device, which includes a main frame, a robotic arm, and a clamping component. The robotic arm is connected to the clamping component and is used to drive the clamping component to grab egg trays from the ball-bearing mesh chain conveyor and transfer the egg trays to boxes on the roller conveyor. The clamping component for grabbing egg trays includes a clamping frame, which includes a cylinder, a lead screw, a first clamping plate, and a second clamping plate. The cylinder drives the lead screw to extend or retract, causing the first and second clamping plates to open or close, thereby clamping and placing the egg trays. While this patent enables automated boxing of egg trays and improves boxing efficiency compared to manual operation, it does not guarantee efficient handling. However, the clamping component in this patent only clamps the egg tray from both sides. The egg trays currently used are usually made of pulp or plastic, which are relatively soft and easily deformed. As a result, when the existing clamping component applies force from both sides, the egg tray is prone to deformation due to uneven force, which may lead to clamping failure or damage to the eggs in the egg tray. Therefore, the art seeks to develop a robotic gripper that can safely and stably transfer egg trays full of eggs without damage. Utility Model Content

[0004] In view of the above-mentioned problems and needs of the existing technology, the purpose of this utility model is to provide a robotic gripper for transferring egg trays.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A robotic gripper for transferring egg trays includes a mounting frame, a robotic arm connector at the top of the mounting frame, and a clamping plate on each of the two symmetrical sides of the mounting frame. Each clamping plate is connected to a telescopic cylinder, allowing the clamping plates to open and close synchronously. The gripper is characterized by having an inverted L-shaped pressure plate on each side of the bottom of the mounting frame adjacent to the clamping plates, with the horizontal portion of the inverted L-shaped pressure plate being adjustablely fixedly connected to the bottom of the mounting frame.

[0007] In one embodiment, the mounting bracket includes a horizontally arranged top plate, an upward-opening U-shaped fixed plate, and an upward-opening U-shaped movable plate. The U-shaped fixed plate is stacked inside the U-shaped movable plate and located below the top plate. The side of the U-shaped fixed plate is fixedly connected to the corresponding side of the top plate via a connector. The U-shaped movable plate and the U-shaped fixed plate are fixedly connected in an adjustable manner. The horizontal part of the inverted L-shaped pressure plate is fixedly connected in an adjustable manner to the bottom of the U-shaped movable plate.

[0008] In one embodiment, the upper part of the connector is fixedly connected to the side of the top plate, and the lower part of the connector is engaged with the side of the U-shaped fixing plate.

[0009] In a preferred embodiment, the upper part of the connector is fixedly and adjustablely connected to the side of the top plate.

[0010] In one embodiment, the upper part of the connector is symmetrically provided with two Y-shaped holes, and the upper part of the connector is adjusted and fixedly connected to the corresponding side of the top plate by means of the cooperation of the adjusting screw and the Y-shaped holes.

[0011] In one embodiment, two fixing posts are provided on the upper inner side of both sides of the U-shaped fixing plate along the Y direction. A locking slot is provided at the lower part of the connector to engage with the fixing posts. When the fixing posts are located in the corresponding locking slots, the lower part of the connector can be engaged with the corresponding side of the U-shaped fixing plate.

[0012] In one embodiment, two Z-shaped oblong holes are provided on both sides of the U-shaped movable plate, and the U-shaped movable plate is adjustablely and fixedly connected to the U-shaped fixed plate by adjusting screws cooperating with the Z-shaped oblong holes.

[0013] In one embodiment, a plurality of X-shaped oblong holes are provided on the horizontal part of the inverted L-shaped pressure plate, and the horizontal part of the inverted L-shaped pressure plate is adjusted and fixedly connected to the bottom of the U-shaped movable plate by means of adjusting screws cooperating with the X-shaped oblong holes.

[0014] In a preferred embodiment, the mounting bracket further includes two T-shaped limiting plates, which are located on the outer side of the corresponding side connectors. The horizontal arms of the T-shaped limiting plates are fixedly connected to the upper part of the corresponding side connectors and the corresponding side of the top plate. The ends of the vertical arms of the T-shaped limiting plates are provided with downward-facing U-shaped openings. Limiting posts that are adapted to the U-shaped openings are provided on the outer sides of both sides of the U-shaped fixing plate.

[0015] In one embodiment, the robotic gripper further includes a quick-release mounting component for a gripping plate. The quick-release mounting component for the gripping plate has a fixed frame adapted to the connecting portion of the gripping plate. An upper fixing post and a lower fixing post are symmetrically arranged on both sides of the fixed frame. A snap-fit ​​connector is provided at the top of the fixed frame. An opening is provided at the top of the gripping plate for the snap-fit ​​connector to pass through and engage with the snap-fit ​​connector. Upper and lower latches are provided on both sides of the connecting portion of the gripping plate for engaging with the upper and lower fixing posts respectively. By allowing the snap-fit ​​connector to pass through the opening and engage with the side of the opening, and by engaging the upper latch with the upper fixing post and the lower latch with the lower fixing post on the same side, a quick-release connection between the gripping plate and the quick-release mounting component for the gripping plate can be achieved.

[0016] In one embodiment, the quick-release mounting component of the clamping plate is further provided with an upward-opening U-shaped adjusting component. A transverse waist-shaped hole is provided on the two vertical arms of the U-shaped adjusting component. A fixing rod for passing through the transverse waist-shaped hole is provided on the inner side wall of the fixing frame. The snap-fit ​​connector is provided on the upper part of the two vertical arms of the U-shaped adjusting component, and an outlet for the snap-fit ​​connector to pass through is provided at the top of the fixing frame.

[0017] In one embodiment, the robotic gripper is further provided with a clamping plate fixing block. The two sides of the clamping plate fixing block are fixedly connected to the corresponding sides of the fixed frame by screws passing through the lower fixed column, and the output end of the telescopic cylinder is fixedly connected to the clamping plate fixing block on the corresponding side.

[0018] In one embodiment, the robotic gripper further includes a synchronous transmission mechanism, which includes a gear disposed within a mounting frame and located between two telescopic cylinders. Linear racks meshing with the gear are respectively provided on the left and right sides of the gear. The distal end of the linear rack is fixedly connected to the corresponding clamping plate fixing block, and the proximal end of the linear rack is a free end.

[0019] In one embodiment, the robotic gripper further includes two horizontal guide mechanisms respectively disposed on the outside of the two telescopic cylinders. Each horizontal guide mechanism includes a guide post, the distal end of which is fixedly connected to the corresponding clamping plate fixing block, and the proximal end of which is a free end.

[0020] In one embodiment, the horizontal guiding mechanism further includes a guide post fixing seat, the top of which is fixedly connected to the top plate of the mounting frame. Each guide post fixing seat is provided with two linear bearings arranged vertically, and the linear bearings are sleeved on the near end of the corresponding guide post.

[0021] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0022] The robotic gripper provided by this utility model is installed at the end of a robotic arm, which not only enables automated operation of egg tray transfer, but also ensures uniform force on the egg tray, enabling damage-free transfer of egg trays full of poultry eggs with good safety. In addition, the robotic gripper of this utility model has the advantages of simple structure, easy disassembly and maintenance, and strong versatility, which is of great value for the non-destructive automated transfer and boxing of batch poultry eggs. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a robotic gripper for transferring egg trays in a non-gripping state, as provided in the embodiment.

[0024] Figure 2 yes Figure 1 The diagram shows the bottom structure of the robotic gripper in its non-clamping state.

[0025] Figure 3 This is a schematic diagram of the inverted L-shaped pressure plate described in the embodiment;

[0026] Figure 4 This is a schematic diagram of the mounting bracket described in the embodiment;

[0027] Figure 5 This is a schematic diagram of the structure of the mounting bracket with a T-shaped limiting plate as described in the embodiment;

[0028] Figure 6 This is a schematic diagram of the assembly structure of the clamping plate and the quick-release mounting component of the clamping plate described in the embodiment;

[0029] Figure 7 This is a schematic diagram of the structure of the clamping plate described in the embodiment;

[0030] Figure 8 This is a schematic diagram of the quick-release mounting component of the clamping plate described in the embodiment;

[0031] Figure 9 This is a schematic diagram of the assembly structure of the clamping plate, the quick-release mounting component of the clamping plate, and the clamping plate fixing block described in the embodiment;

[0032] Figure 10 yes Figure 1 The diagram shown is a schematic of the robotic gripper after the top plate, robotic arm connectors, and inverted L-shaped pressure plate have been removed.

[0033] Figure 11 It is to further remove Figure 10 A top view of the assembly after the clamping plate and guide post fixing seat are installed.

[0034] Figure 12 This is a schematic diagram of the assembly structure of each component of the robotic gripper provided in the embodiment when it is in the gripping state;

[0035] Figure 13 This is a schematic diagram of the robotic gripper provided in the embodiment when it is in the gripping state;

[0036] Figure 14 This is a schematic diagram of the bottom structure of the robotic gripper provided in the embodiment when it is in the gripping state.

[0037] The labels in the diagram are as follows:

[0038] 1. Mounting bracket; 1-1. Top plate; 1-2. U-shaped fixing plate; 1-21. Fixing column; 1-22. Limiting column; 1-3. U-shaped movable plate; 1-31. Z-direction oblong hole; 1-4. Connector; 1-41. Y-direction oblong hole; 1-42. Bayonet; 1-5. T-shaped limiting plate; 1-51. U-shaped opening; 2. Robot arm connector; 3. Clamping plate; 3-1. Opening; 3-2. Upper bayonet; 3-3. Lower bayonet; 4. Telescopic cylinder; 5. Inverted L-shaped pressure plate; 5-1. Horizontal part; 5-11. X-direction oblong hole; 6a. Adjusting screw A 6b. Adjusting screw B; 6c. Adjusting screw C; 7. Clamping plate quick-release mounting piece; 7-1. Fixing frame; 7-11. Upper fixing post; 7-12. Lower fixing post; 7-121. Screw; 7-13. Clip connector; 7-14. Fixing rod; 7-15. Through outlet; 7-2. U-shaped adjusting piece; 7-21. Transverse oblong hole; 8. Clamping plate fixing block; 9. Synchronous transmission mechanism; 9-1. Gear; 9-2. Linear rack; 10. Horizontal guide mechanism; 10-1. Guide post; 10-2. Guide post fixing seat; 10-3. Linear bearing; Detailed Implementation

[0039] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the terminology used in this utility model is for the purpose of describing specific embodiments only and is not intended to limit the utility model. Unless otherwise defined, the technical or scientific terms used in this utility model should have the ordinary meaning understood by those skilled in the art. Terms such as "inner," "outer," "upper," "lower," "top," "bottom," "front," "rear," "left," "right," "vertical," and "horizontal," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms “set up,” “install,” “connect,” “link,” “fix,” etc., should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; they can refer to a direct connection or an indirect connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. It should also be noted that when an element is referred to as “fixed to” or “set on” another element, it can be directly on the other element or there may be an intermediate element.

[0040] Example

[0041] Please see Figure 1 As shown, this embodiment provides a robotic gripper for transferring egg trays, including a mounting frame 1, a robotic arm connector 2 on the top of the mounting frame 1, and two symmetrical sides of the mounting frame 1 ( Figure 1 Taking the front and rear sides as an example, but it can also be set on the left and right sides, each side has a clamping plate 3. Each clamping plate 3 is connected to a telescopic cylinder 4. With the two telescopic cylinders 4 moving synchronously, the clamping plates 3 can open and close. On the bottom of the mounting frame 1, adjacent to the clamping plates 3 on both sides (because...) Figure 1 The clamping plate 3 is set on the front and rear sides, so the corresponding clamping plate here is set on the left and right sides. Each of them has an inverted L-shaped pressure plate 5.

[0042] Please see again. Figure 2 and Figure 3As shown, the horizontal portion 5-1 of the inverted L-shaped pressure plate 5 is adjustablely fixedly connected to the bottom of the mounting bracket 1. This adjustable fixed connection means that the position between the horizontal portion 5-1 of the inverted L-shaped pressure plate 5 and the bottom of the mounting bracket 1 can be adjusted, and after the position is adjusted, they are then fixedly connected by screws. Specifically, the horizontal portion 5-1 of the inverted L-shaped pressure plate 5 is provided with multiple (in this embodiment, two are provided on the front and two on the back, but this design is not limited) X-shaped holes 5-11. The horizontal portion 5-1 of the inverted L-shaped pressure plate 5 is adjustablely fixedly connected to the bottom of the mounting bracket 1 by the cooperation of adjusting screw A 6a with the X-shaped holes 5-11. That is, the head of the adjusting screw A 6a is located outside the X-shaped hole 5-11, and the body of the adjusting screw A 6a passes through the X-shaped hole 5-11 and is threadedly connected to the bottom of the mounting bracket 1. By making the horizontal part 5-1 of the inverted L-shaped pressure plate 5 and the bottom of the mounting frame 1 adjustable and fixed, the distance between the two inverted L-shaped pressure plates 5 can be easily adjusted to match the length of the egg tray to be clamped, so as to better meet the clamping of egg trays of different sizes.

[0043] Please see again. Figure 1 and Figure 4As shown, the mounting frame 1 includes a horizontally arranged top plate 1-1, an upward-opening U-shaped fixed plate 1-2, and an upward-opening U-shaped movable plate 1-3. The robotic arm connector 2 is fixedly mounted on the top of the top plate 1-1, and the U-shaped fixed plate 1-2 is stacked in the inner cavity of the U-shaped movable plate 1-3 and located below the top plate 1-1. The side of the U-shaped fixed plate 1-2 is fixedly connected to the corresponding side of the top plate 1-1 through a connector 1-4 (in this embodiment, the upper part of the connector 1-4 is adjustablely fixedly connected to the corresponding side of the top plate 1-1, and the lower part of the connector 1-4 is engaged with the corresponding side of the U-shaped fixed plate 1-2). The U-shaped movable plate 1-3 is adjustablely fixedly connected to the U-shaped fixed plate 1-2, and the horizontal part 5-1 of the inverted L-shaped pressure plate 5 is adjustablely fixedly connected to the bottom of the U-shaped movable plate 1-3. Specifically, in this embodiment, the upper part of the connector 1-4 is symmetrically provided with two Y-shaped holes 1-41, so that the head of the adjusting screw B 6b is located outside the Y-shaped hole 1-41, and the body of the adjusting screw B 6b passes through the Y-shaped hole 1-41 and is threadedly connected to the corresponding side of the top plate 1-1; by making the connector 1-4 and the side of the top plate 1-1 adjustable and fixed, the installation position can be easily adjusted according to the working conditions, which has better practicality. In addition, two fixing posts 1-21 are provided on the upper inner side of both sides of the U-shaped fixing plate 1-2 along the Y direction. A slot 1-42 is provided at the lower part of the connector 1-4 to engage with the fixing posts 1-21. By positioning the fixing posts 1-21 in the corresponding slots 1-42, the lower part of the connector 1-4 can be engaged with the corresponding side of the U-shaped fixing plate 1-2. The engagement method makes the assembly operation between the U-shaped fixing plate 1-2 and the connector 1-4 very convenient. In addition, two Z-shaped oblong holes 1-31 are provided on both sides of the U-shaped movable plate 1-3, so that the head of the adjusting screw C 6c is located outside the Z-shaped oblong hole 1-31, and the body of the adjusting screw C 6c passes through the Z-shaped oblong hole 1-31 and is threaded to the corresponding side of the U-shaped fixed plate 1-2. By making the U-shaped movable plate 1-3 and the U-shaped fixed plate 1-2 an adjustable fixed connection, the height of the two inverted L-shaped pressure plates 5 fixed at the bottom of the U-shaped movable plate 1-3 can be indirectly adjusted to match the height of the egg tray to be clamped by adjusting the distance between the U-shaped movable plate 1-3 and the top plate 1-1, so as to better meet the clamping of egg trays of different sizes.

[0044] Please see again. Figure 1 , Figure 4 and Figure 5As shown, in this embodiment, the mounting bracket 1 further includes two T-shaped limiting plates 1-5. The T-shaped limiting plates 1-5 are located outside the corresponding side connectors 1-4, and the horizontal arms of the T-shaped limiting plates 1-5 are fixedly connected to the upper part of the corresponding side connectors 1-4 and the corresponding side of the top plate 1-1 (in this embodiment, the fixed connection of the three is achieved by adjusting screw B 6b). The end of the vertical arm of the T-shaped limiting plate 1-5 is provided with a U-shaped opening 1-51 facing downwards. On the outer sides of both sides of the U-shaped fixing plate 1-2, there are limiting posts 1-22 that are adapted to the U-shaped openings 1-51. By engaging the limiting posts 1-22 with the U-shaped openings 1-51, the stable connection and positioning between the U-shaped fixing plate 1-2 and the top plate 1-1 can be further ensured.

[0045] Please see again. Figures 6 to 9 As shown, in this embodiment, the robotic gripper further includes a quick-release mounting component 7 for the gripping plate. The quick-release mounting component 7 has a fixing frame 7-1 adapted to the connecting portion of the gripping plate 3. Upper fixing posts 7-11 and lower fixing posts 7-12 are symmetrically arranged on both sides of the fixing frame 7-1. A snap-fit ​​connector 7-13 is provided at the top of the fixing frame 7-1. An opening 3-1 is provided at the top of the gripping plate 3 for the snap-fit ​​connector 7-13 to pass through and engage with it. On both sides of the connecting part of the clamping plate 3, there are upper latches 3-2 and lower latches 3-3 for engaging with the upper fixing post 7-11 and the lower fixing post 7-12 respectively. By having the latch 7-13 pass through the opening 3-1 and engage with the side of the opening 3-1, and the upper latch 3-2 on the same side engage with the upper fixing post 7-11 and the lower latch 3-3 engage with the lower fixing post 7-12, a quick-release connection between the clamping plate 3 and the clamping plate quick-release mounting part 7 can be achieved.

[0046] In this embodiment, the quick-release mounting component 7 of the clamping plate is further provided with an upward-opening U-shaped adjusting component 7-2. A transverse oblong hole 7-21 is provided on the two vertical arms of the U-shaped adjusting component 7-2. A fixing rod 7-14 for passing through the transverse oblong hole 7-21 is provided on the inner side wall of the fixing frame 7-1. The snap-fit ​​connector 7-13 is located on the upper part of the two vertical arms of the U-shaped adjusting component 7-2, and an outlet 7-15 for the snap-fit ​​connector 7-13 to pass through is provided at the top of the fixing frame 7-1. The U-shaped adjusting component 7-2 facilitates adjustment of the installation position of the clamping plate 3, ensuring that the two clamping plates 3 can accurately clamp the target egg tray.

[0047] Please see again. Figure 9 and Figure 10As shown, in this embodiment, the robotic gripper is further provided with a clamping plate fixing block 8. The two sides of the clamping plate fixing block 8 are fixedly connected to the corresponding sides of the fixing frame 7-1 by screws 7-121 passing through the lower fixing column 7-12, and the output end of the telescopic cylinder 4 is fixedly connected to the clamping plate fixing block 8 on the corresponding side.

[0048] Please see again. Figure 10 and Figure 11 As shown, in this embodiment, the robotic gripper further includes a synchronous transmission mechanism 9. The synchronous transmission mechanism 9 includes a gear 9-1 located within the mounting frame 1 and between two telescopic cylinders 4. Linear racks 9-2 meshing with the gear 9-1 are respectively located on the left and right sides of the gear 9-1. The distal end of each linear rack 9-2 is fixedly connected to a corresponding clamping plate fixing block 8, and the proximal end of each linear rack 9-2 is a free end. When the telescopic cylinder 4 drives the clamping plate fixing block 8 to extend or retract, the clamping plate fixing block 8 drives the transmission between the linear racks 9-2 and the gear 9-1. Through the meshing transmission of the two linear racks 9-2, which are respectively connected to the clamping plate fixing blocks 8 on both sides, with the same gear 9-1, it is possible to ensure that the two clamping plates 3 move synchronously horizontally outward or synchronously horizontally inward. This not only ensures the synchronicity of the opening and closing movements of the clamping plates 3 but also makes the opening and closing movements of the two clamping plates 3 smoother and effectively reduces the operating noise of the clamping plates 3.

[0049] In addition, please see Figure 1 , Figure 10 and Figure 11 As shown, in this embodiment, the robotic gripper further includes two horizontal guide mechanisms 10 respectively located outside the two telescopic cylinders 4. Each horizontal guide mechanism 10 includes a guide post 10-1 and a guide post fixing seat 10-2. The distal end of the guide post 10-1 is fixedly connected to the corresponding clamping plate fixing block 8, and the proximal end of the guide post 10-1 is a free end. The top of the guide post fixing seat 10-2 is fixedly connected to the top plate 1-1 of the mounting frame 1. Each guide post fixing seat 10-2 is provided with two vertically arranged linear bearings 10-3, which are sleeved on the proximal end of the corresponding guide post 10-1. Through the two horizontal guide mechanisms 10, the horizontal movement of the clamping plate 3 can be further guided, making the clamping of the clamping plate more stable and its operation more normal.

[0050] The method of using the robotic gripper described in this utility model for picking up egg trays is as follows:

[0051] The robotic arm connector 2 at the top of the robotic arm gripper is fixedly connected to the end of the robotic arm (not shown in the figure, but an existing multi-axis robotic arm can be used);

[0052] Adjust the distance between the two inverted L-shaped pressure plates 5 to match the length of the egg tray to be clamped;

[0053] Adjust the distance between the U-shaped movable plate 1-3 and the top plate 1-1 so that the height of the two inverted L-shaped pressure plates 5 fixed at the bottom of the U-shaped movable plate 1-3 is adapted to the height of the egg tray to be clamped;

[0054] In its initial state, the robotic gripper is like... Figure 1 and Figure 2 As shown, the two clamping plates 3 are in the open state;

[0055] When the egg tray filled with eggs is moved to the workbench clamping station, the robotic arm drives the robotic arm clamp to move directly above the egg tray and down to the horizontal part 5-1 of the two inverted L-shaped pressure plates 5 to fit against the upper surface of the egg tray, so that the two inverted L-shaped pressure plates 5 form a U-shaped clamping effect with the top surface and left and right sides of the egg tray facing downwards.

[0056] Then, the telescopic cylinder 4 is activated to retract, causing the clamping plates 3 on both the front and rear sides to retract inward simultaneously, thus clamping the egg tray tightly against the front and rear sides (see [link]). Figure 12 As shown), this forms a clamping effect on the top surface and the front, back, left, and right sides of the egg tray (see [reference]). Figure 13 and Figure 14 As shown in the figure, this makes the clamping force on the egg tray more uniform, which can effectively prevent the egg tray from deforming, causing clamping failure and egg damage, and can achieve non-destructive clamping and transfer of egg trays full of poultry eggs.

[0057] Once the eggs are in place, the telescopic cylinder 4 is activated to extend, causing the clamping plates 3 on both sides to expand outwards synchronously, thereby releasing the clamping force on the egg tray. Then, the tray returns to the clamping station to perform the clamping and transfer operation for the next egg tray. This cycle is repeated to achieve automated transfer and packing of batches of poultry eggs.

[0058] As can be seen from the above, installing the robotic gripper provided by this utility model at the end of a robotic arm not only enables automated operation of egg tray transfer, but also ensures uniform force on the egg tray, enabling damage-free transfer of egg trays filled with poultry eggs with good safety. In addition, the robotic gripper described in this utility model also has the advantages of simple structure, easy disassembly and maintenance, and strong versatility, which is of great value for realizing the non-destructive automated transfer and boxing of batch poultry eggs.

[0059] Finally, it should be pointed out that the above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic gripper for transferring egg trays, comprising a mounting frame, a robotic arm connector at the top of the mounting frame, and a clamping plate on each of the two symmetrical sides of the mounting frame. Each clamping plate is connected to a telescopic cylinder, and the clamping plates can open and close when the two telescopic cylinders move synchronously. The gripper is characterized in that: An inverted L-shaped pressure plate is provided on each of the two sides adjacent to the clamping plate at the bottom of the mounting frame. The horizontal part of the inverted L-shaped pressure plate is fixedly and adjustablely connected to the bottom of the mounting frame.

2. The robotic gripper for transferring egg trays according to claim 1, characterized in that: The mounting bracket includes a horizontally arranged top plate, an upward-opening U-shaped fixed plate, and an upward-opening U-shaped movable plate. The U-shaped fixed plate is stacked inside the U-shaped movable plate and located below the top plate. The side of the U-shaped fixed plate is fixedly connected to the corresponding side of the top plate through a connector. The U-shaped movable plate and the U-shaped fixed plate are fixedly connected in an adjustable manner. The horizontal part of the inverted L-shaped pressure plate is fixedly connected to the bottom of the U-shaped movable plate in an adjustable manner.

3. The robotic gripper for transferring egg trays according to claim 2, characterized in that: The upper part of the connector is fixedly connected to the side of the top plate, and the lower part of the connector is engaged with the side of the U-shaped fixing plate.

4. The robotic gripper for transferring egg trays according to claim 2, characterized in that: The mounting bracket also includes two T-shaped limiting plates. The T-shaped limiting plates are located on the outside of the corresponding side connectors, and the horizontal arms of the T-shaped limiting plates are fixedly connected to the upper part of the corresponding side connectors and the corresponding side of the top plate. The ends of the vertical arms of the T-shaped limiting plates are provided with U-shaped openings facing downwards. Limiting posts that are adapted to the U-shaped openings are provided on the outer sides of both sides of the U-shaped fixing plate.

5. The robotic gripper for transferring egg trays according to claim 1, characterized in that: The robotic gripper is also equipped with a quick-release mounting component for the gripping plate. The quick-release mounting component for the gripping plate is equipped with a fixing frame that is adapted to the connecting part of the gripping plate. An upper fixing post and a lower fixing post are symmetrically arranged on both sides of the fixing frame. A snap-fit ​​connector is provided at the top of the fixing frame. An opening is provided at the top of the gripping plate for the snap-fit ​​connector to pass through and snap into the snap-fit ​​connector. An upper snap-fit ​​slot and a lower snap-fit ​​slot are provided on both sides of the connecting part of the gripping plate for snapping into the upper fixing post and the lower fixing post, respectively.

6. The robotic gripper for transferring egg trays according to claim 5, characterized in that: The quick-release mounting bracket of the clamping plate is also provided with an upward-opening U-shaped adjustment component. A transverse waist-shaped hole is provided on the two vertical arms of the U-shaped adjustment component. A fixing rod for passing through the transverse waist-shaped hole is provided on the inner side wall of the fixing frame. The snap connector is located on the upper part of the two vertical arms of the U-shaped adjustment component, and an outlet for the snap connector to pass through is provided at the top of the fixing frame.

7. The robotic gripper for transferring egg trays according to claim 5, characterized in that: The robotic gripper is also provided with a clamping plate fixing block. The two sides of the clamping plate fixing block are fixedly connected to the corresponding sides of the fixed frame by screws passing through the lower fixed column, and the output end of the telescopic cylinder is fixedly connected to the clamping plate fixing block on the corresponding side.

8. The robotic gripper for transferring egg trays according to claim 7, characterized in that: The robotic gripper also includes a synchronous transmission mechanism, which includes a gear located in the mounting frame and between two telescopic cylinders. On the left and right sides of the gear, there are linear racks that mesh with the gear. The distal end of the linear rack is fixedly connected to the corresponding clamping plate fixing block, and the proximal end of the linear rack is a free end.

9. The robotic gripper for transferring egg trays according to claim 7, characterized in that: The robotic gripper also includes two horizontal guide mechanisms located on the outside of the two telescopic cylinders. Each horizontal guide mechanism includes a guide post, the far end of which is fixedly connected to the corresponding clamping plate fixing block, and the near end of which is a free end.

10. The robotic gripper for transferring egg trays according to claim 9, characterized in that: The horizontal guiding mechanism also includes a guide post fixing seat. The top of the guide post fixing seat is fixedly connected to the top plate of the mounting frame. Each guide post fixing seat is provided with two linear bearings arranged vertically. The linear bearings are sleeved on the near end of the corresponding guide post.

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