CN104085683A

CN104085683A - Chicken egg picking and carrying manipulator

Info

Publication number: CN104085683A
Application number: CN201410294931.7A
Authority: CN
Inventors: 郭玉华; 王帅; 孙硕添; 张圣贤; 江治国; 郭长帅; 李想
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-06-26
Filing date: 2014-06-26
Publication date: 2014-10-08

Abstract

The invention discloses a chicken egg picking and carrying manipulator and belongs to electromechanical devices. The chicken egg picking and carrying manipulator comprises a first pneumatic motor, a second pneumatic motor, a first air cylinder, a first position sensor, a CCD (charge coupled device) sensor, a sucker, a second air cylinder, wheels, a base, a storage box, a second position sensor, a second pneumatic motor, a first support arm, a fourth pneumatic motor, an electromagnetic valve, an air pump, a support, a second support arm and a fifth pneumatic motor. The wheels are mounted below the base, the electromagnetic valve and the air pump are mounted above the base, the support and the base are connected through the fourth pneumatic motor, the storage box is mounted on the support, the upper end and the lower end of the support are connected through the fifth pneumatic motor, the upper end of the support is connected with the first support arm through a third pneumatic motor, the first support arm and the second support are connected through the first pneumatic motor, the second support arm is connected with the first air cylinder through the second pneumatic motor, and the second air cylinder is fixed on the first air cylinder. The chicken egg picking and carrying manipulator is capable of assisting picking and carrying of chicken eggs.

Description

One is picked up carrying egg manipulator

Technical field

The present invention relates to one and pick up carrying egg robot device, specifically apply five air motors, two cylinders, a sucker, an air pump, an electromagnetic valve, three sensors, belong to civil area.

Background technology

The market demand of egg is very high, every day, the egg of chicken farm output was very many, if depend merely in hen coop and manually complete picking up of egg, can waste a lot of manpower and materials, and high-intensity repeated work also can make people very tired, and become the egg of case to be transported to warehouse also to need to waste a lot of manpowers, the smell in hen coop also has harm to human body.

Summary of the invention

For above-mentioned deficiency, the invention provides one and pick up carrying egg robot device.

One is picked up carrying egg robot device, is by the first air motor, the second air motor, the first cylinder, primary importance sensor, ccd sensor, sucker, the second cylinder, wheel, base, storage tank, second place sensor, the second air motor, the first hold-down arm, the 4th air motor, electromagnetic valve, air pump, bearing, the second hold-down arm, the 5th air motor composition, it is characterized in that: wheel is arranged on base below, electromagnetic valve, air pump is arranged on base top, between bearing and base, be connected with the 4th air motor, storage tank is arranged on bearing, bearing upper and lower side is connected by the 5th air motor, bearing upper end is connected by the 3rd air motor with the first hold-down arm, the first hold-down arm is connected by the first air motor with the second hold-down arm, the second hold-down arm is connected by the second air motor with the first cylinder, the second cylinder is fixed on the first cylinder, at the second cylinder end, sucker is installed, second place sensor is installed above storage tank, primary importance sensor and ccd sensor are installed on the second cylinder.

The usefulness of this invention is: this device utilizes ccd sensor accurately to identify the position of egg, and utilize position transduser avoiding obstacles accurately to arrive egg position, adopt sucker absorption egg, can either ensure egg to suck up, can not destroy again egg, fuselage adopts articulated type, at arm end, a telescopic cylinder is installed simultaneously, can make manipulator work more flexible, an air motor is installed below bearing and is made manipulator flexible rotating, an air motor is installed above bearing, guarantee manipulator can be put into storage tank by the egg of picking up, in the time that sensor detects that storage tank completely, manipulator just can oneself move to warehouse under driven by program, so just realize picking up and handling process of egg.

Brief description of the drawings

Accompanying drawing 1 is structural representation of the present invention.

In figure, 1, the first air motor, 2, the second air motor, 3, the first cylinder, 4, primary importance sensor, 5, ccd sensor, 6, sucker, 7, the second cylinder, 8, wheel, 9, base, 10, storage tank, 11, second place sensor, 12, the 3rd air motor, 13, the first hold-down arm, 14, the 4th air motor, 15, electromagnetic valve, 16, air pump, 17, bearing, 18, the second hold-down arm, 19 the 5th air motors.

Detailed description of the invention

One is picked up carrying egg robot device, is by the first air motor 1, the second air motor 2, the first cylinder 3, primary importance sensor 4, ccd sensor 5, sucker 6, the second cylinder 7, wheel 8, base 9, storage tank 10, second place sensor 11, the 3rd air motor 12, the first hold-down arm 13, the 4th air motor 14, electromagnetic valve 15, air pump 16, bearing 17, the second hold-down arm 18, the 5th air motor 19 forms, and it is characterized in that: wheel 8 is arranged on base 9 belows, electromagnetic valve 15, air pump 16 is arranged on base 9 tops, between bearing 17 and base 9, be connected with the 4th air motor 14, storage tank 10 is arranged on bearing 17, bearing 17 upper and lower sides are connected by the 5th air motor 19, bearing 17 upper ends are connected by the 3rd air motor 12 with the first hold-down arm 13, the first hold-down arm 13 is connected by the first air motor 1 with the second hold-down arm 18, the second hold-down arm 18 is connected by the second air motor 2 with the first cylinder 3, the second cylinder 7 is fixed on the first cylinder 3, at the second cylinder 7 ends, sucker 6 is installed, second place sensor 11 is installed above storage tank 10, primary importance sensor 4 and ccd sensor 5 are installed on the second cylinder 7.

In the time of this device work, provide information by primary importance sensor 4 and ccd sensor 5, feed back to controller by image processing, controller control the first air motor 1, the second air motor 2, the 3rd air motor 12 and the 4th air motor 14 rotate, controlling air pump 16 works, control electromagnetic valve 15 works simultaneously, thereby control the first cylinder 3 telescopic actions, manipulator is positioned at after accurate location, controlling the second cylinder 7 effects by electromagnetic valve 15 again provides air pressure that sucker 6 is adsorbed on egg on sucker, rotated by controller control the 5th air motor 19 again, and manipulator is placed on egg in storage tank 10, in the time that storage tank 10 is filled, second place sensor 11 feedback informations, make manipulator stop picking up, and automatically move to warehouse, thereby complete picking up and carrying work of egg.

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 change, amendment, replacement and the modification that embodiment is carried out still falls into protection scope of the present invention.

Claims

1. picking up a carrying egg manipulator, is by the first air motor, the second air motor, the first cylinder, primary importance sensor, ccd sensor, sucker, the second cylinder, wheel, base, storage tank, second place sensor, the second air motor, the first hold-down arm, the 4th air motor, electromagnetic valve, air pump, bearing, the second hold-down arm, the 5th air motor composition, it is characterized in that: wheel is arranged on base below, electromagnetic valve, air pump is arranged on base top, between bearing and base, be connected with the 4th air motor, storage tank is arranged on bearing, bearing upper and lower side is connected by the 5th air motor, bearing upper end is connected by the 3rd air motor with the first hold-down arm, the first hold-down arm is connected by the first air motor with the second hold-down arm, the second hold-down arm is connected by the second air motor with the first cylinder, the second cylinder is fixed on the first cylinder, at the second cylinder end, sucker is installed, second place sensor is installed above storage tank, primary importance sensor and ccd sensor are installed on the second cylinder.