CN104041424A - Device for automatically recognizing positions of eggs and picking eggs - Google Patents
Device for automatically recognizing positions of eggs and picking eggs Download PDFInfo
- Publication number
- CN104041424A CN104041424A CN201410299954.7A CN201410299954A CN104041424A CN 104041424 A CN104041424 A CN 104041424A CN 201410299954 A CN201410299954 A CN 201410299954A CN 104041424 A CN104041424 A CN 104041424A
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- China
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- manipulator
- mechanical arm
- egg
- cylinder
- air cylinder
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Abstract
The invention discloses a device for automatically recognizing positions of eggs and picking eggs, and belongs to the field of electromechanical devices. The device is composed of a mechanical arm supporting column, a first mechanical arm air cylinder, a second mechanical arm air cylinder, a third mechanical arm air cylinder, a mechanical arm claw, a sponge, a stepping motor, a piezoresistive pressure sensor and an idler wheel. A mechanical arm slides outside an egg cage through the idler wheel, the stepping motor is placed in the mechanical arm supporting column, the first mechanical arm air cylinder is arranged on the upper portion of the mechanical arm supporting column, the second mechanical arm air cylinder is welded to double bars which stretch out by the first mechanical arm air cylinder, the third mechanical arm air cylinder is connected to the second mechanical arm air cylinder through a bolt, the mechanical arm claw is connected to the third mechanical arm air cylinder and covered with the sponge, and the surface of the egg cage is completely covered with the piezoresistive pressure sensor. By the adoption of the device, eggs can be positioned and picked and can be fully automatically put in egg packaging boxes from the egg cage.
Description
Technical field
The present invention relates to a kind of automatic identification egg position and pick up the device of egg, specifically adopted piezoresistive pressure sensor to carry out the device that egg location and manipulator pick up egg, belong to aquaculture production field.
Background technology
Present large-scale chicken farm is picked up egg and is mostly adopted artificial method, not only wastes time and energy, and easily causes the breakage of egg.Therefore need a kind of full-automatic pick device that can be from egg cage to egg package box.
Summary of the invention
For above-mentioned deficiency, the invention provides a kind of automatic identification egg position and the device that picks up egg.
The present invention is achieved by the following technical solutions: a kind of automatic identification egg position and the device that picks up egg, by manipulator pillar, manipulator the first cylinder, manipulator the second cylinder, manipulator the 3rd cylinder, mechanical paw, sponge, stepper motor, piezoresistive pressure sensor and roller form, it is characterized in that: manipulator slides in egg cage outside by roller, stepper motor is placed in manipulator pillar, manipulator the first cylinder is on manipulator pillar top, manipulator the second cylinder is welded in the parallel bars that manipulator the first cylinder stretches out, manipulator the 3rd cylinder is bolted at manipulator the second cylinder, mechanical paw is connected on manipulator the 3rd cylinder, and covered by sponge, piezoresistive pressure sensor covers egg cage surface completely.
The usefulness of this invention is: piezoresistive pressure sensor not only perception has or not egg, and the position of definite egg, positional information is passed to manipulator, manipulator is according to the output egg position signalling of piezoresistive pressure sensor, pick up egg and put into packing box, the sponge of mechanical paw can make egg not be caught broken, and the roller of manipulator bottom can be realized in egg cage movement outside, automatically completes the action of egg from egg cage to egg package box.
Accompanying drawing explanation
Accompanying drawing 1 is structural representation of the present invention,
Accompanying drawing 2 is the view at I-I place in Fig. 1.
In figure, 1, manipulator pillar, 3, manipulator the first cylinder, 5, manipulator the second cylinder, 6, manipulator the 3rd cylinder, 7, mechanical paw, 8, sponge, 9, stepper motor, 11, piezoresistive pressure sensor and 12 rollers.
Embodiment
As shown in the figure, a kind of automatic identification egg position and the device that picks up egg, by manipulator pillar 1, manipulator the first cylinder 3, manipulator the second cylinder 5, manipulator the 3rd cylinder 6, mechanical paw 7, sponge 8, stepper motor 9, piezoresistive pressure sensor 11 and roller 12 form, manipulator slides in egg cage 10 outsides by roller 12, stepper motor 9 is placed in manipulator pillar 1, manipulator the first cylinder 3 is on manipulator pillar 1 top, manipulator the second cylinder 5 is welded in the parallel bars that manipulator the first cylinder 3 stretches out, manipulator the 3rd cylinder 6 is bolted at manipulator the second cylinder 5, mechanical paw 7 is connected on manipulator the 3rd cylinder 6, and covered by sponge 8, piezoresistive pressure sensor 11 covers egg cage 10 surfaces completely.
Piezoresistive pressure sensor 11 covers on egg cage 10 surfaces, and each piezoresistive pressure sensor 11 area is less than the maximum cross-section area of egg, when having egg, piezoresistive pressure sensor 11 is passed to manipulator by egg positional information, manipulator slides in the outside of egg cage 10 by roller 12, can pick up the whole eggs in egg cage, stepper motor 9 is controlled manipulator and is horizontally rotated, manipulator the first cylinder 3 is controlled manipulator horizontal extension, manipulator the second cylinder 5 is controlled manipulator vertical lift, manipulator the 3rd cylinder 6 is controlled manipulator paw 7 foldings, the mechanical paw 7 clamping eggs of surface coverage sponge 8, egg is moved on in egg package box, when by the time filling egg in packing box and being a certain fixed number, manipulator stops action, after artificial joint sealing, carry out the packing of next case.
For the ordinary skill in the art, according to instruction of the present invention, in the situation that not departing from principle of the present invention and spirit, within the change that embodiment is carried out, modification, replacement and modification still fall into protection scope of the present invention.
Claims (1)
1. automatically identify egg position and the device that picks up egg for one kind, by manipulator pillar, manipulator the first cylinder, manipulator the second cylinder, manipulator the 3rd cylinder, mechanical paw, sponge, stepper motor, piezoresistive pressure sensor and roller form, it is characterized in that: manipulator slides in egg cage outside by roller, stepper motor is placed in manipulator pillar, manipulator the first cylinder is on manipulator pillar top, manipulator the second cylinder is welded in the parallel bars that manipulator the first cylinder stretches out, manipulator the 3rd cylinder is bolted at manipulator the second cylinder, mechanical paw is connected on manipulator the 3rd cylinder, and covered by sponge, piezoresistive pressure sensor covers egg cage surface completely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299954.7A CN104041424A (en) | 2014-06-28 | 2014-06-28 | Device for automatically recognizing positions of eggs and picking eggs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299954.7A CN104041424A (en) | 2014-06-28 | 2014-06-28 | Device for automatically recognizing positions of eggs and picking eggs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104041424A true CN104041424A (en) | 2014-09-17 |
Family
ID=51495294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410299954.7A Pending CN104041424A (en) | 2014-06-28 | 2014-06-28 | Device for automatically recognizing positions of eggs and picking eggs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104041424A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108633777A (en) * | 2018-05-23 | 2018-10-12 | 凤台县东风湖周洋蛋鸡养殖有限公司 | A kind of special egg pick device of breeding layer chicken |
| CN110839563A (en) * | 2019-12-12 | 2020-02-28 | 扬州大学 | Intelligent goose egg collecting robot and control method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0855137A2 (en) * | 1997-01-23 | 1998-07-29 | Jansen Machinefabriek & Konstruktiebedrijf B.V. | Method and installation for individualising an egg with the particular laying hen |
| CN101073312A (en) * | 2006-05-15 | 2007-11-21 | 大荷兰人国际有限公司 | Sensor for countering egg |
| CN101394736A (en) * | 2006-03-02 | 2009-03-25 | 大荷兰人国际有限公司 | Conveying device for shock-sensitive products |
| KR20110113397A (en) * | 2010-04-09 | 2011-10-17 | 고인기 | Transfer apparatus of egg |
| CN102407521A (en) * | 2011-09-30 | 2012-04-11 | 梁言言 | Manipulator device for picking eggs |
| CN202264222U (en) * | 2011-09-30 | 2012-06-06 | 李学敏 | Automatic egg catching mechanical hand |
| CN103609479A (en) * | 2013-12-11 | 2014-03-05 | 殷盛江 | Device for recognizing whether eggs exist or not |
-
2014
- 2014-06-28 CN CN201410299954.7A patent/CN104041424A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0855137A2 (en) * | 1997-01-23 | 1998-07-29 | Jansen Machinefabriek & Konstruktiebedrijf B.V. | Method and installation for individualising an egg with the particular laying hen |
| CN101394736A (en) * | 2006-03-02 | 2009-03-25 | 大荷兰人国际有限公司 | Conveying device for shock-sensitive products |
| CN101073312A (en) * | 2006-05-15 | 2007-11-21 | 大荷兰人国际有限公司 | Sensor for countering egg |
| KR20110113397A (en) * | 2010-04-09 | 2011-10-17 | 고인기 | Transfer apparatus of egg |
| CN102407521A (en) * | 2011-09-30 | 2012-04-11 | 梁言言 | Manipulator device for picking eggs |
| CN202264222U (en) * | 2011-09-30 | 2012-06-06 | 李学敏 | Automatic egg catching mechanical hand |
| CN103609479A (en) * | 2013-12-11 | 2014-03-05 | 殷盛江 | Device for recognizing whether eggs exist or not |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108633777A (en) * | 2018-05-23 | 2018-10-12 | 凤台县东风湖周洋蛋鸡养殖有限公司 | A kind of special egg pick device of breeding layer chicken |
| CN110839563A (en) * | 2019-12-12 | 2020-02-28 | 扬州大学 | Intelligent goose egg collecting robot and control method |
| CN110839563B (en) * | 2019-12-12 | 2024-05-14 | 扬州大学 | Intelligent goose egg collection robot and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140917 |