CN107015506A - A kind of vaccine embryo egg automatic detecting machine automatic control system and method - Google Patents
A kind of vaccine embryo egg automatic detecting machine automatic control system and method Download PDFInfo
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- CN107015506A CN107015506A CN201710349625.2A CN201710349625A CN107015506A CN 107015506 A CN107015506 A CN 107015506A CN 201710349625 A CN201710349625 A CN 201710349625A CN 107015506 A CN107015506 A CN 107015506A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
Abstract
The vaccine embryo egg automatic detecting machine automatic control system and method for the present invention, is characterised by：Automatic control system by microcontroller, embryo egg detection sensor, LED output driving circuits and the sensor group that is connected with microcontroller into；Embryo egg detection sensor and LED output driving circuits are provided with each lampshade.The automatic control system of the present invention, have below the lampshade in the presence of embryo egg, the light that light emitting diode is sent is received after being reflected by embryo egg by phototriode, and operational amplifier is exported low level, and then make triode drive light emitting diode to be lighted, realize the irradiation of embryo egg；In the presence of there is no embryo egg when the lower section of lampshade, the light that then light emitting diode is sent will not be received by phototriode, and operational amplifier output high level, light emitting diode will not be lit, so that embryo egg vacant locations are without irradiation, it is to avoid influence to adjacent position embryo egg.
Description
Technical field
The present invention relates to a kind of automatic control system and method, in particular, more particularly to a kind of vaccine embryo egg is automatic
Detection machine automatic control system and method.
Background technology
Embryo egg needs hatching of breeding eggs as the matrix of production of vaccine before inoculation.During hatching of breeding eggs, it is necessary to
Detected by multiple embryo, dead germ and weak embryo egg are detected.The embryo egg detection of the overwhelming majority is completed by manually,
Using automatic embryo egg detect equipment it is less, Patent No. CN201510112056.0, it is entitled " a kind of vaccine embryo egg from
The patent document of motion detection device ", disclose it is a kind of can carry out the device of vaccine embryo egg detection automatically, it discloses carry out embryo egg
The specific mechanical structure of automatic detection, but, it is necessary to design the automatic control system coordinated with it, just in actual application process
The automatic detection process of vaccine embryo egg can be completed.Especially in the control process that truss swing angle electric is rotated, if its is downward
The angle of swing is excessive, and embryo egg easily is squeezed into broken, if swing angle is too small, does not reach the effect of irradiation embryo egg.Furthermore, in embryo
During egg irradiates, if not having embryo egg presence on some position, if being also irradiated, the photograph of adjacent embryo egg is influenced whether
Penetrate, be unfavorable for the normal detection of embryo egg.
The content of the invention
The present invention is in order to overcome the shortcoming of above-mentioned technical problem to be automatically controlled there is provided a kind of vaccine embryo egg automatic detecting machine
System and method.
The vaccine embryo egg automatic detecting machine automatic control system of the present invention, vaccine embryo egg automatic detecting machine is on frame, two
Transmission belt, two lower drive belts, one layer of transmission motor, two layers times coil motor, truss, truss move horizontally motor and truss pivot angle electricity
Machine is constituted, and transmission belt, two lower drive belts be arranged in parallel respectively on two, are provided with the outside of upper transmission belt, lower drive belts to egg
Disk carries out incubator tray guide rail that is spacing and being oriented to, and one layer of driving motor, two layers times coil motor drive through respective drive shaft respectively
Transmission belt, lower drive belts are rotated, to drive incubator tray to move；Two racks and two being parallel to each other are provided with above frame to lead
Sliding block is respectively and fixedly provided with rail, two guide rails, truss moves horizontally motor, truss swing angle electric and is individually fixed on two sliding blocks, truss
Move horizontally and rotary shaft is fixed with the output shaft of motor, the two ends of rotary shaft are fixed with the gear being meshed with rack；Truss
Move horizontally motor, be respectively fixed with left riser, right riser, the output shaft of truss swing angle electric on the housing of truss swing angle electric
On be fixed with swinging axle, the two ends of truss are fixed on swinging axle, and truss tightens solid matter and shows some lampshades；It is characterized in that：
Automatic control system is by microcontroller, embryo egg detection sensor, LED output driving circuits and be connected with microcontroller one layer
Transmission brings disk sensor, one layer of transmission belt placing sensor, two layers of transmission into and brings disk sensor, two layers of transmission belt placings sensing into
Device, truss move horizontally top sensor, truss and move horizontally tip sensor, truss pivot angle zero point sensor and truss pivot angle
Lower limited sensor is constituted；
One layer of transmission brings disk sensor, one layer of transmission belt placing sensor into and is respectively arranged at incubator tray guide rail on the outside of transmission belt
Front-end and back-end, two layers of transmission bring disk sensor, two layers of transmission belt placing sensor into and are respectively arranged at egg on the outside of lower drive belts
The front-end and back-end of disk guide rail；Truss, which moves horizontally top sensor, truss and moves horizontally tip sensor and be respectively arranged at, leads
The front-end and back-end of rail；Truss pivot angle zero point sensor is arranged at the top of left riser, and truss pivot angle lower limited sensor is arranged at
The bottom of left riser；
Embryo egg detection sensor and LED output driving circuits are provided with each lampshade, embryo egg detection sensor is by sending out
Optical diode D11, phototriode D12, resistance R6, resistance R7, potentiometer R8 and operational amplifier A 6 are constituted；D11 and R6 goes here and there
Circuit, D12 after connection connected with R7 after circuit, potentiometer R8 be in parallel, and two ends after parallel connection are connected to positive source and electricity
Source is on the ground；D12 and R7 junction is connected to the in-phase input end of operational amplifier A 6, the anti-phase input termination of operational amplifier A 6
In on potentiometer R8 slider；
LED output driving circuits are by light emitting diode D13, resistance R9, resistance R10, PNP triode Q1, PNP triode Q2, PNP
Triode Q3, light emitting diode D14, light emitting diode D16, light emitting diode D18 compositions；Light emitting diode D13 positive pole connects
In power supply just on, negative pole is connected through resistance R9 with the output end of operational amplifier A 6, and resistance R10 two ends are connected to power supply respectively
Just with A6 output end；Triode Q1, Q2 and Q3 base stage are connected to the output end of operational amplifier A 6, and emitter stage is connected to electricity
Source is just navigated, and colelctor electrode is connected to power supply on the ground through D14, D16, D18 respectively.
The vaccine embryo egg automatic detecting machine automatic control system of the present invention, the microcontroller is through motor driver to one layer
Transmit motor, two layers return coil motor, truss moves horizontally motor and the break-make electricity condition of truss swing angle electric is controlled, motor
Driver is made up of PNP type triode AX, relay KX, and triode AX base stage is connected through resistance with the output end of microcontroller
Connect, emitter stage is just being connected with power supply, colelctor electrode is connected with relay KX coil to be followed by power supply on the ground；The power supply of motor is returned
Opened point of the road through relay KX is connected on motor drive power supply.
The present invention vaccine embryo egg automatic detecting machine automatic control system, one layer of transmission motor, two layers return coil motor,
Truss moves horizontally motor and truss swing angle electric is stepper motor, the output end of microcontroller and the control end of stepper motor
It is connected, to control the rotation direction of stepper motor.
The present invention vaccine embryo egg automatic detecting machine automatic control system, it is described one layer transmission bring into disk sensor, one layer
Transmission belt placing sensor, two layers of transmission bring disk sensor, two layers of transmission belt placing sensor, truss into and move horizontally top biography
Sensor, truss move horizontally tip sensor, truss pivot angle zero point sensor, truss pivot angle lower limited sensor and microcontroller it
Between be provided with photoelectric coupling isolation circuit.
The control method of the vaccine embryo egg automatic detecting machine automatic control system of the present invention, it is characterised in that by following
Step is realized：
A) determines whether that incubator tray enters, microcontroller（28）Disk sensor is brought into by one layer of transmission（20）Determine whether
Incubator tray enters, and if incubator tray enters, then performs step b)；If without incubator tray entered, continue to detect；
B) drives incubator tray to enter, and one layer of transmission motor drives incubator tray to enter, and microcontroller records the rotation step of one layer of transmission motor
Number, when incubator tray moves to truss（17）Underface when stop the rotation of one layer of transmission motor, perform step c)；
C) drives truss to move horizontally, and microprocessor control truss moves horizontally motor（11）Top is moved horizontally by truss to pass
Sensor（24）One end starts movement, until truss is moved on incubator tray the most top of the embryo egg of inner side a line just, stops truss
The rotation of motor is moved horizontally, step d) is performed；
D) drives truss to rotate, and microcontroller passes through truss swing angle electric（12）Truss is driven to rotate, when truss pivot angle lower limit is passed
When sensor exports useful signal, stop the rotation of truss swing angle electric, now each lampshade on truss is covered on accordingly just
In embryo egg, step e) is performed；
E) performs the embryo egg detection sensor in embryo egg irradiation, lampshade（30）Detect below in the presence of having an embryo egg, then control
LED output driving circuits work, and perform embryo egg irradiation；If embryo egg detection sensor detects relevant position when not having embryo egg,
Then corresponding LED output driving circuits do not work, and the position does not perform embryo egg irradiation；Perform step f)；
F) judges whether all embryo eggs irradiate and finished that microcontroller drives truss by judging that truss moves horizontally motor（17）
Mobile number of times, is finished to judge whether all embryo eggs irradiate, if irradiation is finished, performs step h)；If not according to
Shoot away complete, then perform step g)；
G) is moved to next line embryo egg position, and microcontroller moves horizontally motor by truss（11）Truss is driven to be moved to down
The top of a line embryo egg, performs step d)；
H) incubator trays are removed, and after all embryo eggs irradiation on incubator tray is finished, microcontroller drives incubator tray by one layer of transmission motor
Move outwardly to back on disk device, when one layer of transmission belt placing sensor（21）Detect after incubator tray removal, stop one layer of transmission
The work of motor；Perform step i)；
I) returns disk detection, and microcontroller brings disk sensor into by two layers of transmission（22）Incubator tray entrance has been detected whether, if
Incubator tray enters, then starts two layers and return coil motor（5）, drive incubator tray to be moved on lower drive belts；If entered without incubator tray, explanation
Return disk device also not send incubator tray back to, continue to detect；
J) incubator trays are sent out, and microcontroller passes through two layers of transmission belt placing sensor（23）Judge whether incubator tray is sent, if by
Send out, then the irradiation of current incubator tray is finished.
The beneficial effects of the invention are as follows：The vaccine embryo egg automatic detecting machine automatic control system of the present invention, by uploading
The dynamic two ends with outside set one layer of transmission to bring disk and placing sensor, the two ends on the outside of lower drive belts into and set two layers of transmission
Bring disk and placing sensor into, realize positioning and transmission of the incubator tray on upper transmission belt and lower drive belts；By in guide rail
Both sides set truss to move horizontally top and tip sensor, realize to spacing in truss moving process；By vertical on a left side
Truss pivot angle zero point and lower limited sensor are set on plate, realize in truss rotation process rotational angle it is spacing, can be effective
Avoid truss from excessively rotating down and cause lampshade to extrude or crushing embryo egg.
By setting the embryo egg detection sensor being made up of light emitting diode, phototriode and operational amplifier, and
The LED output driving circuits being made up of 3 triodes and 3 light emitting diodes, have below the lampshade in the presence of embryo egg, light
The light that diode is sent is received after being reflected by embryo egg by phototriode, and operational amplifier is exported low level, and then is made
Triode drives light emitting diode to be lighted, and realizes the irradiation of embryo egg；In the presence of there is no embryo egg when the lower section of lampshade, then light-emitting diodes
The light that pipe is sent will not be received by phototriode, and operational amplifier output high level, light emitting diode will not be lit, make
Embryo egg vacant locations without irradiation, it is to avoid influence to adjacent position embryo egg.
Brief description of the drawings
Fig. 1 is the stereogram of vaccine embryo egg automatic detecting machine in the present invention；
Fig. 2 is the stereogram of vaccine embryo egg automatic detecting machine in the present invention；
Fig. 3 is the schematic diagram of the vaccine embryo egg automatic detecting machine automatic control system of the present invention；
Fig. 4 is microcontroller in the present invention and its circuit diagram being connected with motor driver；
Fig. 5 is microcontroller in the present invention and the connectivity port at step motor control end；
Fig. 6 is the photoelectric coupling isolation circuit in the present invention between sensor and microcontroller；
Fig. 7 is the circuit diagram of embryo egg detection sensor and LED output driving circuits in the present invention.
In figure：1 frame, transmission belt on 2,3 lower drive belts, 4 one layers of transmission motor, 5 two layers are returned coil motors, 6 drive shafts, 7
Incubator tray guide rail, 8 racks, 9 guide rails, 10 sliding blocks, 11 truss move horizontally motor, and 12 truss swing angle electrics, 13 left risers, 14 right sides are vertical
Disk sensor, 21 1 layers of transmission belt are brought in plate, 15 gears, 16 rotary shafts, 17 truss, 18 lampshades, 19 swinging axles, 20 1 layers of transmission into
Disk sensor, 23 2 layers of transmission belt placing sensor are brought in placing sensor, 22 2 layers of transmission into, and 24 truss move horizontally top biography
Sensor, 25 truss move horizontally tip sensor, 26 truss pivot angle zero point sensors, 27 truss pivot angle lower limited sensors, and 28 is micro-
Controller, 29 LED output driving circuits, 30 embryo egg detection sensors.
Embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, give the stereogram of vaccine embryo egg automatic detecting machine in the present invention, its by frame 1,
Upper transmission belt 2, lower drive belts 3, one layer of driving motor 4, two layers times coil motor 5, rack 8, guide rail 9, sliding block 10, truss level are moved
Dynamic motor 11, truss swing angle electric 12, left riser 13, right riser 14, rotary shaft 16, truss 17, lampshade 18,19 groups of swinging axle
Into, shown 1 fixation of frame and supporting role, the quantity of upper transmission belt 2 is two, and two upper transmission belts 2 are set in parallel in machine
The top of frame 1, forms one layer.One layer of transmission motor 4 is fixed in frame 1, and drive is fixed with the output shaft of one layer of driving motor 4
The drive shaft 6 for moving transmission belt 2, the outside of transmission belt 2 is provided with incubator tray guide rail 7, to realize to incubator tray on transmission belt 2
Spacing and guiding.The quantity of shown lower drive belts 3 is also two, and two lower drive belts 3 are be arranged in parallel, and the outside of lower drive belts 3 is set
Incubator tray guide rail 7 is equipped with, incubator tray guide rail 7 is realized to the spacing of incubator tray and is oriented to.Two layers are returned coil motor 5 and are fixed in frame 1, two layers
Return on coil motor 5 and be fixed with drive shaft 6, the drive shaft 6 is used to drive lower drive belts 3 to be rotated, after realizing that irradiation is finished
Time disk of incubator tray.
The quantity of shown rack 8 and guide rail 9 is two, and two racks 8 are abreast fixed on the top of frame 1, and rack 8
Length direction and upper transmission belt 2 length direction it is orthogonal.Guide rail 9 is set in parallel on the outside of rack 8, two guide rails 9
Sliding block 10 is respectively arranged with, truss moves horizontally motor 11 and truss swing angle electric 12 is individually fixed on two sliding blocks 10.Rotate
Axle 16 and truss move horizontally the output shaft of motor 11 mutually regularly, and the two ends of rotary shaft 16 are fixed with what is be meshed with rack 8
Gear 15.Truss, which is moved horizontally, is respectively fixed with left riser 13 and right riser on the housing of motor 11 and truss swing angle electric 12
14, the output shaft of swinging axle 19 and truss swing angle electric 12 is mutually fixed, and swinging axle 19 two ends rotate respectively be arranged at it is left vertical
On plate 13 and right riser 14.The two ends of truss 17 are fixed on swinging axle 19, and a number of close-packed arrays of lampshade 18 are fixed
In on swinging axle 19.
So, under the induced effect that truss moves horizontally motor 11, sliding block 10, truss can be driven to move horizontally motor
11st, truss swing angle electric 12 and truss 17 are moved horizontally, and the embryo egg do not gone together on incubator tray is irradiated with realizing.Pass through purlin
The driving of frame swing angle electric 12, can drive truss 17 to carry out the rotation of certain angle with swinging axle 19, so that lampshade 18 covers on embryo
It is irradiated on egg air chamber.
As shown in figure 3, giving the schematic diagram of the vaccine embryo egg automatic detecting machine automatic control system of the present invention, it is by micro-
Disk is brought in controller 28, embryo egg detection sensor 30, LED output driving circuits 29 and one layer of transmission being connected with microcontroller into
Disk sensor 22, two layers of transmission belt placing sensor are brought in sensor 20, one layer of transmission belt placing sensor 21, two layers of transmission into
23rd, truss moves horizontally top sensor 24, truss and moves horizontally tip sensor 25, truss pivot angle zero point sensor 16 and purlin
Frame pivot angle lower limited sensor 27 is constituted.
One layer of transmission brings disk sensor 20, one layer of transmission belt placing sensor 21 into and is respectively arranged at the outside of transmission belt 2
The front-end and back-end of incubator tray guide rail 7, two layers of transmission are brought disk sensor 22, two layers of transmission belt placing sensor 23 into and are respectively arranged at
The front-end and back-end of the outside incubator tray guide rail 7 of lower drive belts 3；Microcontroller 28, can by detecting the signal of each sensor output
The position of incubator tray on the belt is judged, to complete the positioning and transmission of incubator tray on the belt.Truss moves horizontally top
Sensor 24, truss move horizontally the front-end and back-end that tip sensor 25 is respectively arranged at guide rail 9, to realize to truss 17
Movable position carries out spacing.Truss pivot angle zero point sensor 26 is arranged at the top of left riser, for upward to truss 17
The angle of swing carries out spacing；Truss pivot angle lower limited sensor 27 is arranged at the bottom of left riser, for truss 17 to the bottom
Dynamic angle progress is spacing, and broken embryo egg is squeezed to prevent truss 17 from excessively rotating down.
As shown in fig. 7, giving the circuit diagram of embryo egg detection sensor and LED output driving circuits in the present invention, each
Embryo egg detection sensor and LED output driving circuits are provided with lampshade 18, embryo egg detection sensor is by light emitting diode
D11, phototriode D12, resistance R6, resistance R7, potentiometer R8 and operational amplifier A 6 are constituted；D11 connected with R6 after electricity
Road, D12 connected with R7 after circuit, potentiometer R8 be in parallel, and two ends after parallel connection are connected to positive source and power supply on the ground；
D12 and R7 junction is connected to the in-phase input end of operational amplifier A 6, and the anti-phase input of operational amplifier A 6 is terminated at current potential
On device R8 slider.LED output driving circuits by light emitting diode D13, resistance R9, resistance R10, PNP triode Q1,
PNP triode Q2, PNP triode Q3, light emitting diode D14, light emitting diode D16, light emitting diode D18 compositions；Luminous two
Pole pipe D13 positive pole be connected to power supply just on, negative pole is connected through resistance R9 with the output end of operational amplifier A 6, resistance R10's
Two ends are connected to output end of the power supply just with A6 respectively；Triode Q1, Q2 and Q3 base stage are connected to the output of operational amplifier A 6
End, emitter stage is connected to power supply and just navigated, and colelctor electrode is connected to power supply on the ground through D14, D16, D18 respectively.
In detection process, in the presence of having embryo egg when the lower section of lampshade 18, the light that light emitting diode D11 is sent is anti-by embryo egg
Received after penetrating by phototriode D12, and operational amplifier A 6 is exported low level, and then make triode（Q1、Q2、Q3）Drive
Light emitting diode（D14、D16、D18）Light, realize the irradiation of embryo egg.In the presence of there is no embryo egg when the lower section of lampshade 18, then send out
The light that optical diode D11 is sent will not be received by phototriode D12, the output high level of operational amplifier A 6, light-emitting diodes
Pipe（D14、D16、D18）It will not be lit so that embryo egg vacant locations are without irradiation, it is to avoid to the shadow of adjacent position embryo egg
Ring.
As shown in figure 4, microcontroller and its circuit diagram being connected with motor driver in the present invention are given, it is shown micro-
Controller 28 returns coil motor 5, truss to one layer of transmission motor 4, two layers through different motor drivers and moves horizontally the and of motor 11
The break-make electricity condition of truss swing angle electric 12 is controlled.The quantity of shown motor driver is 5,1 therein to be standby,
Motor driver is by PNP type triode AX（A1、A2、A3、A4、A5）, relay KX（K1、K2、K3、K4、K5）Composition, triode
AX base stage is connected through resistance with the output end of microcontroller 28, and emitter stage is just being connected with power supply, colelctor electrode and relay
KX coil series connection is followed by power supply on the ground；Opened point of the current supply circuit of motor through relay KX is connected to motor drive power supply
On.So, the corresponding port of microcontroller 28 can turn on and off the loop where relay coil, with the break-make to motor
Electricity condition is controlled.
Fig. 5 gives microcontroller and the connectivity port at step motor control end, one layer of transmission motor 4, two in the present invention
Layer, which returns coil motor 5, truss and moves horizontally motor 11 and truss swing angle electric 12, uses stepper motor, shown interface CN1,
CPX on CN2, CN3, CN4（CP1、CP2、CP3、CP4）To drive the pulse signal that stepper motor is rotated, DRX（DR1、DR2、
DR3、DR4）Control the rotation direction of stepper motor.As shown in fig. 6, giving in the present invention between sensor and microcontroller
Photoelectric coupling isolation circuit, photoelectric coupling isolation circuit is provided between each shown sensor and microcontroller 28, with
Realize Acquisition Circuit with controlling isolating for circuit, it is ensured that the steady operation of circuit.
The control method of the vaccine embryo egg automatic detecting machine automatic control system of the present invention, it is characterised in that by following
Step is realized：
A) determines whether that incubator tray enters, microcontroller（28）Disk sensor is brought into by one layer of transmission（20）Determine whether
Incubator tray enters, and if incubator tray enters, then performs step b)；If without incubator tray entered, continue to detect；
B) drives incubator tray to enter, and one layer of transmission motor drives incubator tray to enter, and microcontroller records the rotation step of one layer of transmission motor
Number, when incubator tray moves to truss（17）Underface when stop the rotation of one layer of transmission motor, perform step c)；
C) drives truss to move horizontally, and microprocessor control truss moves horizontally motor（11）Top is moved horizontally by truss to pass
Sensor（24）One end starts movement, until truss is moved on incubator tray the most top of the embryo egg of inner side a line just, stops truss
The rotation of motor is moved horizontally, step d) is performed；
D) drives truss to rotate, and microcontroller passes through truss swing angle electric（12）Truss is driven to rotate, when truss pivot angle lower limit is passed
When sensor exports useful signal, stop the rotation of truss swing angle electric, now each lampshade on truss is covered on accordingly just
In embryo egg, step e) is performed；
E) performs the embryo egg detection sensor in embryo egg irradiation, lampshade（30）Detect below in the presence of having an embryo egg, then control
LED output driving circuits work, and perform embryo egg irradiation；If embryo egg detection sensor detects relevant position when not having embryo egg,
Then corresponding LED output driving circuits do not work, and the position does not perform embryo egg irradiation；Perform step f)；
F) judges whether all embryo eggs irradiate and finished that microcontroller drives truss by judging that truss moves horizontally motor（17）
Mobile number of times, is finished to judge whether all embryo eggs irradiate, if irradiation is finished, performs step h)；If not according to
Shoot away complete, then perform step g)；
G) is moved to next line embryo egg position, and microcontroller moves horizontally motor by truss（11）Truss is driven to be moved to down
The top of a line embryo egg, performs step d)；
H) incubator trays are removed, and after all embryo eggs irradiation on incubator tray is finished, microcontroller drives incubator tray by one layer of transmission motor
Move outwardly to back on disk device, when one layer of transmission belt placing sensor（21）Detect after incubator tray removal, stop one layer of transmission
The work of motor；Perform step i)；
I) returns disk detection, and microcontroller brings disk sensor into by two layers of transmission（22）Incubator tray entrance has been detected whether, if
Incubator tray enters, then starts two layers and return coil motor（5）, drive incubator tray to be moved on lower drive belts；If entered without incubator tray, explanation
Return disk device also not send incubator tray back to, continue to detect；
J) incubator trays are sent out, and microcontroller passes through two layers of transmission belt placing sensor（23）Judge whether incubator tray is sent, if by
Send out, then the irradiation of current incubator tray is finished.
Claims (5)
1. a kind of vaccine embryo egg automatic detecting machine automatic control system, vaccine embryo egg automatic detecting machine is by frame（1）, be driven on two
Band（2）, two lower drive belts（3）, one layer of transmission motor（4）, two layers return coil motors（5）, truss（17）, truss move horizontally motor
（11）With truss swing angle electric（12）Constitute, transmission belt, two lower drive belts be arranged in parallel respectively on two, upper transmission belt, underdrive
It is provided with the outside of band and incubator tray guide rail that is spacing and being oriented to is carried out to incubator tray（7）, one layer of driving motor, two layers times coil motor point
Not through respective drive shaft（6）Transmission belt, lower drive belts is driven to be rotated, to drive incubator tray to move；Set above frame
It is equipped with two racks being parallel to each other（8）With two guide rails（9）, sliding block is respectively and fixedly provided with two guide rails（10）, truss move horizontally motor,
Truss swing angle electric is individually fixed on two sliding blocks, and truss, which is moved horizontally, is fixed with rotary shaft on the output shaft of motor（16）, turn
The two ends of moving axis are fixed with the gear being meshed with rack（15）；Truss moves horizontally motor, on the housing of truss swing angle electric
It is respectively fixed with left riser（13）, right riser（14）, swinging axle is fixed with the output shaft of truss swing angle electric（19）, truss
Two ends are fixed on swinging axle, and truss tightens solid matter and shows some lampshades（18）；It is characterized in that：Automatic control system is by micro-control
Device processed（28）, embryo egg detection sensor（30）, LED output driving circuits（29）And one layer of transmission belt being connected with microcontroller
Enter disk sensor（20）, one layer of transmission belt placing sensor（21）, two layers of transmission bring disk sensor into（22）, two layers of transmission take out of
Disk sensor（23）, truss move horizontally top sensor（24）, truss move horizontally tip sensor（25）, truss pivot angle zero
Point sensor（16）With truss pivot angle lower limited sensor（27）Composition；
One layer of transmission brings disk sensor, one layer of transmission belt placing sensor into and is respectively arranged at incubator tray guide rail on the outside of transmission belt
Front-end and back-end, two layers of transmission bring disk sensor, two layers of transmission belt placing sensor into and are respectively arranged at egg on the outside of lower drive belts
The front-end and back-end of disk guide rail；Truss, which moves horizontally top sensor, truss and moves horizontally tip sensor and be respectively arranged at, leads
Rail（9）Front-end and back-end；Truss pivot angle zero point sensor is arranged at the top of left riser, and truss pivot angle lower limited sensor is set
In the bottom of left riser；
Embryo egg detection sensor and LED output driving circuits are provided with each lampshade, embryo egg detection sensor is by sending out
Optical diode D11, phototriode D12, resistance R6, resistance R7, potentiometer R8 and operational amplifier A 6 are constituted；D11 and R6 goes here and there
Circuit, D12 after connection connected with R7 after circuit, potentiometer R8 be in parallel, and two ends after parallel connection are connected to positive source and electricity
Source is on the ground；D12 and R7 junction is connected to the in-phase input end of operational amplifier A 6, the anti-phase input termination of operational amplifier A 6
In on potentiometer R8 slider；
LED output driving circuits are by light emitting diode D13, resistance R9, resistance R10, PNP triode Q1, PNP triode Q2, PNP
Triode Q3, light emitting diode D14, light emitting diode D16, light emitting diode D18 compositions；Light emitting diode D13 positive pole connects
In power supply just on, negative pole is connected through resistance R9 with the output end of operational amplifier A 6, and resistance R10 two ends are connected to power supply respectively
Just with A6 output end；Triode Q1, Q2 and Q3 base stage are connected to the output end of operational amplifier A 6, and emitter stage is connected to electricity
Source is just navigated, and colelctor electrode is connected to power supply on the ground through D14, D16, D18 respectively.
2. vaccine embryo egg automatic detecting machine automatic control system according to claim 1, it is characterised in that：The microcontroller
Device（28）Through motor driver to one layer of transmission motor（4）, two layers return coil motors（5）, truss move horizontally motor（11）And purlin
Frame swing angle electric（12）Break-make electricity condition be controlled, motor driver is made up of PNP type triode AX, relay KX, three
Pole pipe AX base stage is connected through resistance with the output end of microcontroller, and emitter stage is just being connected with power supply, colelctor electrode and relay
Device KX coil series connection is followed by power supply on the ground；Opened point of the current supply circuit of motor through relay KX is connected to motor drive power supply
On.
3. vaccine embryo egg automatic detecting machine automatic control system according to claim 1 or 2, it is characterised in that：Described one
Layer transmission motor（4）, two layers return coil motors（5）, truss move horizontally motor（11）With truss swing angle electric（12）It is stepping
Motor, microcontroller（28）Output end be connected with the control end of stepper motor, to control the rotation direction of stepper motor.
4. vaccine embryo egg automatic detecting machine automatic control system according to claim 1 or 2, it is characterised in that：Described one
Disk sensor is brought in layer transmission into（20）, one layer of transmission belt placing sensor（21）, two layers of transmission bring disk sensor into（22）, two layers
Transmission belt placing sensor（23）, truss move horizontally top sensor（24）, truss move horizontally tip sensor（25）, purlin
Frame pivot angle zero point sensor（16）, truss pivot angle lower limited sensor（27）With microcontroller（28）Between be provided with photoelectric coupling
Isolation circuit.
5. a kind of control method of the vaccine embryo egg automatic detecting machine automatic control system based on described in claim 1, its feature
It is, is realized by following steps：
A) determines whether that incubator tray enters, microcontroller（28）Disk sensor is brought into by one layer of transmission（20）Determine whether
Incubator tray enters, and if incubator tray enters, then performs step b)；If without incubator tray entered, continue to detect；
B) drives incubator tray to enter, and one layer of transmission motor drives incubator tray to enter, and microcontroller records the rotation step of one layer of transmission motor
Number, when incubator tray moves to truss（17）Underface when stop the rotation of one layer of transmission motor, perform step c)；
C) drives truss to move horizontally, and microprocessor control truss moves horizontally motor（11）Top is moved horizontally by truss to pass
Sensor（24）One end starts movement, until truss is moved on incubator tray the most top of the embryo egg of inner side a line just, stops truss
The rotation of motor is moved horizontally, step d) is performed；
D) drives truss to rotate, and microcontroller passes through truss swing angle electric（12）Truss is driven to rotate, when truss pivot angle lower limit is passed
When sensor exports useful signal, stop the rotation of truss swing angle electric, now each lampshade on truss is covered on accordingly just
In embryo egg, step e) is performed；
E) performs the embryo egg detection sensor in embryo egg irradiation, lampshade（30）Detect below in the presence of having an embryo egg, then control
LED output driving circuits work, and perform embryo egg irradiation；If embryo egg detection sensor detects relevant position when not having embryo egg,
Then corresponding LED output driving circuits do not work, and the position does not perform embryo egg irradiation；Perform step f)；
F) judges whether all embryo eggs irradiate and finished that microcontroller drives truss by judging that truss moves horizontally motor（17）
Mobile number of times, is finished to judge whether all embryo eggs irradiate, if irradiation is finished, performs step h)；If not according to
Shoot away complete, then perform step g)；
G) is moved to next line embryo egg position, and microcontroller moves horizontally motor by truss（11）Truss is driven to be moved to down
The top of a line embryo egg, performs step d)；
H) incubator trays are removed, and after all embryo eggs irradiation on incubator tray is finished, microcontroller drives incubator tray by one layer of transmission motor
Move outwardly to back on disk device, when one layer of transmission belt placing sensor（21）Detect after incubator tray removal, stop one layer of transmission
The work of motor；Perform step i)；
I) returns disk detection, and microcontroller brings disk sensor into by two layers of transmission（22）Incubator tray entrance has been detected whether, if
Incubator tray enters, then starts two layers and return coil motor（5）, drive incubator tray to be moved on lower drive belts；If entered without incubator tray, explanation
Return disk device also not send incubator tray back to, continue to detect；
J) incubator trays are sent out, and microcontroller passes through two layers of transmission belt placing sensor（23）Judge whether incubator tray is sent, if by
Send out, then the irradiation of current incubator tray is finished.
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| CN201710349625.2A CN107015506B (en) | 2017-05-17 | 2017-05-17 | Automatic control system and method for vaccine embryo egg automatic detector |
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| CN107499936A (en) * | 2017-08-28 | 2017-12-22 | 滨州学院 | A kind of embryo egg automatic letter sorting machine |
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| CN107015506B (en) | 2023-08-08 |
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