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| Design and experiment of handling manipulator for hatching egg vehicle |
| HUANG Chao1,2, LIU Yan-cong1, YI Peng1 |
1. College of Mechanical and Electronic Engineering, China University of Petroleum, Qingdao 266580, China;
2. College of Electrical Engineering, Binzhou University, Binzhou 256600, China |
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Abstract Aiming at the problems of the low efficiency and the high strength when manual operation in loading and unloading of box-type hatching egg by the height of egg yard and the size of egg dish, the design of the automatic loading and unloading manipulator of egg vehicle is composed by lifting mechanism and scissor type combination mechanism with high difference, which is based on the geometrical and dynamic analysis through the process of loading and unloading in the egg tray. The egg tray of the crawling was completed by the rigid transmission mechanism in the scissor type combination mechanism, and the delivery of the egg tray was completed by the flexible transmission agencies. According to the maximum impact requirement of the eggs, the turn on and off control of the system was optimized by analyzing the dynamics of the eggs in the process of egg loading and unloading. The results showed that in the process of egg tray loading and unloading, the vertical positioning error was less than 1.6 mm, the horizontal positioning error was less than 0.5 mm, the loading and unloading success rate was 100%, the loading and unloading efficiency was 450/h, and the eggs were not damaged. The effective loading and unloading reference data are provided by this result, for the automatic loading and unloading device design of the egg tray, which promotes the automation of the incubation process.
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Received: 20 February 2017
Published: 28 October 2017
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孵化蛋车装卸机械臂的设计与试验
针对箱式孵化蛋车装卸时，受蛋车高度和蛋盘尺寸的影响，人工装卸效率低、强度大等问题，设计了一种蛋车自动装卸机械臂。根据蛋车自动装卸机械臂的功能需求，装卸机械臂由升降机构和具有高度差的剪叉式装卸机构组成，剪叉式装卸机构中的刚性传递机构完成蛋盘的抓取，柔性传递机构完成蛋盘的输送。依据种蛋承受的最大冲击力要求，通过对蛋盘装卸过程中升降机构的动力学和静力学分析，研究了种蛋的受力情况，优化了系统的启停控制。样机试验结果表明，蛋盘装卸的垂直定位误差小于1.6 mm，水平定位误差小于0.5 mm，装卸成功率为100%，装卸效率达450盘/h，无种蛋破损现象。研究结果为蛋盘的自动装卸装置设计提供了有效的参考依据，促进了孵化工艺流程的自动化。
关键词：
箱式孵化蛋车,
蛋盘装卸,
机械臂,
剪叉式装卸机构
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