CN107517882A - The robot of egg is picked up in automatic inspection - Google Patents
The robot of egg is picked up in automatic inspection Download PDFInfo
- Publication number
- CN107517882A CN107517882A CN201710511842.7A CN201710511842A CN107517882A CN 107517882 A CN107517882 A CN 107517882A CN 201710511842 A CN201710511842 A CN 201710511842A CN 107517882 A CN107517882 A CN 107517882A
- Authority
- CN
- China
- Prior art keywords
- egg
- arm
- pair
- picked
- tray
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 10
- 238000009434 installation Methods 0.000 abstract 1
- 235000013601 eggs Nutrition 0.000 description 142
- 101100279441 Caenorhabditis elegans egg-5 gene Proteins 0.000 description 2
- 241000287828 Gallus gallus Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K31/00—Housing birds
- A01K31/14—Nest-boxes, e.g. for singing birds or the like
- A01K31/16—Laying nests for poultry; Egg collecting
- A01K31/165—Egg collecting or counting
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Birds (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Wrapping Of Specific Fragile Articles (AREA)
Abstract
The robot of egg is picked up in a kind of automatic inspection, automatic carriage has two transverse shifting pairs, vertically moves pair positioned at one of two transverse shifting pair one end, the prismatic pair that picks up egg transfer arm pulley connect into of the wherein first secondary slide rail for automatic carriage of transverse shifting with picking up egg working arm, the prismatic pair that connects egg transfer arm pulley connect into of second secondary slide rail for automatic carriage of transverse shifting with connecing egg arm, vertically moves the secondary prismatic pair connected into for the slide rail of automatic carriage and the pulley of storage arm；Egg working arm is picked up with egg lifting arm is picked up, there are ten egg transfer arms thereon, the mobile terminal for picking up egg pickup arm prismatic pair is provided with rotating mechanism, rotating mechanism installation sucker；The mobile terminal for connecing egg arm is fixed with mobile pallet；The mobile terminal of storage arm be connected with for hold without egg egg tray and install egg egg tray lifting tray.Its advantage is neatly to be put into after can the egg inspection in egg groove be picked up in egg tray, saves human and material resources, easy to use, work efficiency is high.
Description
Technical field
The present invention relates to robot, the robot of egg is picked up in more particularly to a kind of automatic inspection.
Background technology
Increasing peasant is specifically used to produce egg sale in cultivation hen now, for medium and small plant,
It is substantially manually to pick up egg, it is necessary to which substantial amounts of human and material resources complete these work.
The content of the invention
It is an object of the invention to provide one kind to save human and material resources, and easy to use, egg is picked up in the high automatic inspection of work efficiency
Robot.
The solution of the present invention is such：
The robot of egg, including the automatic carriage moved along egg groove are picked up in a kind of automatic inspection, and the automatic carriage has two simultaneously
The transverse shifting of row is secondary, vertically moves pair positioned at one of two transverse shifting pair one end, wherein first of outside is laterally moved
The prismatic pair that picks up egg transfer arm pulley connect into of the dynamic secondary slide rail for automatic carriage with picking up egg working arm, second horizontal stroke of inner side
To the slide rail that prismatic pair is automatic carriage and the prismatic pair for connecing egg transfer arm pulley and connecting into for connecing egg arm, it is certainly to vertically move secondary
The prismatic pair that the slide rail of row dolly and the pulley of storage arm connect into；The egg working arm that picks up picks up with egg vertical shift pair is picked up
The secondary mobile terminal of egg vertical shift is fixed with ten egg lifting arms, picks up the egg that picks up stretched out in the oriented egg groove direction of egg lifting arm fixation and moves
Arm, the egg that picks up picks up arm with egg transverse shifting pair is picked up, picks up the secondary mobile terminal of egg transverse shifting and be provided with rotating mechanism, described
Rotating mechanism is provided with the sucker for drawing egg；The egg arm that connects connects egg vertical shift pair with egg vertical shift pair is connect
Mobile terminal be fixed with mobile pallet；The storage arm has storage vertical shift pair, and the secondary mobile terminal of storage vertical shift connects
Be connected to for hold without egg egg tray and install egg egg tray lifting tray.
More specifically technical scheme also includes：Described rotating mechanism is provided with baffle plate clip, and the baffle plate clip is with inhaling
Disk is fixed on connecting rod both ends simultaneously, is hung down in the middle part of the connecting rod with the rotation axis connection of rotating mechanism, baffle plate clip with connecting rod
It is direct-connected to connect so that when connecting rod turns to horizontality, baffle plate clip is located at the back edge that vertical position blocks mobile pallet.
It is an advantage of the invention that being neatly put into after can the egg inspection in egg groove be picked up in egg tray, human and material resources are saved, are made
With convenient, work efficiency height.
Brief description of the drawings
Fig. 1 is the structural representation of the invention picked up under egg-shaped state.
Fig. 2 is the structural representation for picking up egg working arm 3.
Fig. 3 is the structural representation under present invention storage egg-shaped state.
Reference is in figure：From walking dolly 1, guide rail 2, egg working arm 3 is picked up, connect egg arm 4, egg 5, storage arm 6, pick up
Egg transfer arm 7, pick up egg lifting arm 8, pick up egg pickup arm 9, electric rotating machine 10, Multifunctional pickup device 11, sucker 12, baffle plate clip
13rd, mobile pallet 14, full egg tray 15, pallet 16, connect egg lifting arm 17, connect egg transfer arm 18, setting egg(s) groove 19, middle egg groove 20, under
Egg groove 21, baffle plate 22.
Embodiment
As shown in figure 1, automatic carriage 1 has two transverse shiftings side by side secondary, positioned at two transverse shifting pair one end
One vertically moves pair, wherein the secondary slide rail for automatic carriage 1 of first transverse shifting in outside and that picks up egg working arm 3 pick up egg
The prismatic pair that the pulley of transfer arm 7 connects into, the secondary slide rail for automatic carriage 1 of second transverse shifting of inner side is with connecing egg arm 4
The prismatic pair that the pulley of egg transfer arm 18 connects into is connect, pair is vertically moved and is connected for the slide rail of automatic carriage 1 with the pulley of storage arm 6
Into prismatic pair；As shown in Fig. 2 egg transfer arm 7 is picked up in the lower end of egg working arm 3 of picking up for horizontal so that picks up the shape of egg working arm 3
Into the slide construction along the transverse shifting of automatic carriage 1；7 vertical position of egg transfer arm is picked up with egg vertical shift pair is picked up, egg is picked up and erects
The mobile terminal of straight prismatic pair is fixed with along pick up the secondary lifting of egg vertical shift and picks up egg lifting arm 8, picks up egg lifting arm 8 and fixes oriented egg
What groove direction was stretched out picks up egg transfer arm 9, and the egg that picks up picks up arm 9 with egg transverse shifting pair is picked up, picks up the secondary shifting of egg transverse shifting
Moved end is provided with along the rotating mechanism that egg transverse shifting pair moves is picked up, and the rotating mechanism is provided with the sucker for drawing egg
12 and baffle plate clip 13, baffle plate clip 13 is fixed on connecting rod both ends simultaneously with sucker 12, in the middle part of the connecting rod and rotating mechanism
Rotation axis connection, baffle plate clip 13 and connecting rod vertical connection so that when connecting rod turns to horizontality, baffle plate clip
13 block the edge of mobile pallet 14 positioned at vertical position.
The secondary mobile terminal of transverse shifting for connecing egg arm 4 and being fixed on automatic carriage 1, its vertical position, which is provided with, to be connect egg and erects
Straight prismatic pair, connect the secondary mobile terminal of egg vertical shift and be fixed with mobile pallet 14 so that mobile pallet 14 can be with oscilaltion；Move
Dynamic pallet 13 is used to hold egg tray when connecing egg.
The storage arm 6 is fixed on the mobile terminal for vertically moving pair of automatic carriage 1, and it is perpendicular that its vertical position is provided with storage
Straight prismatic pair, the secondary mobile terminal of storage vertical shift are connected with for holding the egg tray without egg being arranged side by side and installing chicken
The lifting tray of the egg tray of egg.
The present invention operation principle be：
As shown in figure 1, robot starts working, by picking up the motor on egg pickup arm 9, Multifunctional pickup device 11 is rotated, makes suction
The card of disk 12 is horizontal, by it is mobile from walking dolly 1, pick up picking up egg transfer arm 7, pick up egg lifting arm 8, pick up egg on egg working arm 3
Pick up arm 9, sucker 12 is faced setting egg(s) groove 19, middle egg groove 20, the egg laid eggs on one of groove 21 egg groove, pass through vavuum pump
Vacuum is loaded to sucker, picks up egg 5.Pick up egg lifting arm 8 to work, lifting sucker 12 is with egg to connecing in the top tray of egg arm 4
Mobile egg tray 14 above, multifunctional rotary picks up egg device 11, egg on sucker 12 is vertically to what mobile egg tray 14 was held above
Egg tray, picking up egg lifting arm 8 reduces height, makes egg close to egg tray, and picks up the adjustment egg of arm 9 position by picking up egg, makes egg
At 5mm, egg just is being discharged above egg tray shrinkage pool, egg is fallen within egg tray, and the egg tray connect on egg arm 4 can be according to setting egg(s) groove
19th, middle egg groove 20, groove 21 of laying eggs height and adjust height, conveniently connect egg, after egg fills an egg tray, connect egg arm 4
The full storeroom of egg tray 15 is advanced in storage arm 6, reduces egg tray height, makes to move egg tray 14 apart from following egg 5mm or so,
The baffle plate clip 13 on egg pickup arm 9 is fastened in rotation, baffle plate clip 13 is vertically faced the egg tray in mobile egg tray 14, is picked up egg work
Make arm 3 to work, as shown in figure 3, the egg tray back edge for making the baffle plate on baffle plate clip 13 insert in mobile egg tray 14, connects egg arm 4
Move backward, take out mobile pallet 14, under the obstruction of the overhead gage of baffle plate clip 13, make the original egg on mobile pallet 14
Support just falls in the full egg tray 15 for filling egg below, and rise picks up egg and picks up arm 9, rotation multiplexing energy pickup 11, makes baffle plate
The just vertical face landing ground of clip 13, picks up egg working arm 3 and works, and makes baffle plate clip 13 against the empty egg tray at pallet 16, drop
Low clip height, until at insertion egg tray shrinkage pool, sky egg tray is clamped in the work of baffle plate clip 13, and mobile empty egg tray is placed into mobile support
On disk 14, pick up egg working arm 3, connect that egg arm 4 is returned to that reset condition continues next egg tray pick up egg work, pallet 16, baffle plate
22 energy adjustable height according to the egg tray quantity for filling egg, enables baffle plate 22 to protect the full egg tray 15 for filling egg, is unlikely to
Fall in the course of work, and the clip on baffle plate clip 13 is quickly clipped to sky egg tray.After being filled in the full storeroom of egg tray 15, lead to
Cross and manually move away from whole egg tray, and add empty egg tray to pallet 16.
Claims (2)
1. the robot of egg, including the automatic carriage moved along egg groove are picked up in a kind of automatic inspection（1）, it is characterised in that：It is described from
Row dolly（1）With two transverse shiftings side by side it is secondary, vertically move pair positioned at one of two transverse shifting pair one end, wherein
First transverse shifting pair in outside is automatic carriage（1）Slide rail and pick up egg working arm（3）Pick up egg transfer arm（7）Pulley connects
The prismatic pair being connected into, second transverse shifting pair of inner side is automatic carriage（1）Slide rail and connect egg arm（4）Connect egg transfer arm
（18）The prismatic pair that pulley connects into, it is automatic carriage to vertically move pair（1）Slide rail and storage arm（6）Pulley connect into
Prismatic pair；It is described to pick up egg working arm（3）With egg vertical shift pair is picked up, pick up the secondary mobile terminal of egg vertical shift and be fixed with and pick up egg liter
Arm drops（8）, pick up egg lifting arm（8）What fixed oriented egg groove direction was stretched out picks up egg transfer arm（9）, it is described to pick up egg pickup arm（9）Tool
There are ten egg transverse shifting pairs, pick up egg transverse shifting secondary mobile terminal and rotating mechanism is installed, the rotating mechanism, which is provided with, to be used for
Draw the sucker of egg（12）；It is described to connect egg arm（4）With egg vertical shift pair is connect, connect the secondary mobile terminal of egg vertical shift and fix
There is mobile pallet（14）；The storage arm（6）With storage vertical shift pair, the secondary mobile terminal of storage vertical shift is connected with use
In hold without egg egg tray and install egg egg tray lifting tray.
2. the robot of egg is picked up in automatic inspection according to claim 1, it is characterised in that：Described rotating mechanism is provided with
Baffle plate clip（13）, the baffle plate clip（13）With sucker（12）Connecting rod both ends are fixed on simultaneously, with revolving in the middle part of the connecting rod
The rotation axis connection of rotation mechanism, baffle plate clip（13）With connecting rod vertical connection so that when connecting rod turns to horizontality,
Baffle plate clip（13）Mobile pallet is blocked positioned at vertical position（14）Back edge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511842.7A CN107517882A (en) | 2017-06-29 | 2017-06-29 | The robot of egg is picked up in automatic inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511842.7A CN107517882A (en) | 2017-06-29 | 2017-06-29 | The robot of egg is picked up in automatic inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107517882A true CN107517882A (en) | 2017-12-29 |
Family
ID=60748843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710511842.7A Pending CN107517882A (en) | 2017-06-29 | 2017-06-29 | The robot of egg is picked up in automatic inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107517882A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109169394A (en) * | 2018-07-24 | 2019-01-11 | 青岛农业大学 | Full-automatic-feed picks up egg vehicle and its control method |
| CN110313414A (en) * | 2019-06-28 | 2019-10-11 | 湖南欣牧达畜牧设备有限公司 | It is a kind of to take egg except excrement integration apparatus for poultry farming |
| CN113702085A (en) * | 2020-05-20 | 2021-11-26 | 淡江大学 | Animal sample pickup device and system thereof |
| CN114600797A (en) * | 2022-03-31 | 2022-06-10 | 中国农业大学 | Egg pickup device |
| CN115191373A (en) * | 2022-05-25 | 2022-10-18 | 田东前位畜牧科技有限公司 | Automatic egg picking device in chicken coop |
| CN115389427A (en) * | 2022-09-16 | 2022-11-25 | 山东大佳机械有限公司 | Automatic egg crack detection and classification system and method based on self-learning |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102350693A (en) * | 2011-10-06 | 2012-02-15 | 郭庆省 | Egg hunting robot |
| CN104026040A (en) * | 2014-06-28 | 2014-09-10 | 胥曰强 | Automatic egg picking device |
| US20140255141A1 (en) * | 2011-10-10 | 2014-09-11 | Moba Group B.V. | Tray Gripper Head |
| CN104094869A (en) * | 2014-06-26 | 2014-10-15 | 江治国 | Manipulator for picking up eggs |
| CN104719187A (en) * | 2015-04-14 | 2015-06-24 | 山东理工大学 | Automatic egg collecting device |
| CN105690367A (en) * | 2016-04-12 | 2016-06-22 | 广东拓斯达科技股份有限公司 | Multi-axle manipulator |
| CN207369888U (en) * | 2017-06-29 | 2018-05-18 | 柳州俊超机械有限公司 | The robot of egg is picked up in automatic inspection |
-
2017
- 2017-06-29 CN CN201710511842.7A patent/CN107517882A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102350693A (en) * | 2011-10-06 | 2012-02-15 | 郭庆省 | Egg hunting robot |
| US20140255141A1 (en) * | 2011-10-10 | 2014-09-11 | Moba Group B.V. | Tray Gripper Head |
| CN104094869A (en) * | 2014-06-26 | 2014-10-15 | 江治国 | Manipulator for picking up eggs |
| CN104026040A (en) * | 2014-06-28 | 2014-09-10 | 胥曰强 | Automatic egg picking device |
| CN104719187A (en) * | 2015-04-14 | 2015-06-24 | 山东理工大学 | Automatic egg collecting device |
| CN105690367A (en) * | 2016-04-12 | 2016-06-22 | 广东拓斯达科技股份有限公司 | Multi-axle manipulator |
| CN207369888U (en) * | 2017-06-29 | 2018-05-18 | 柳州俊超机械有限公司 | The robot of egg is picked up in automatic inspection |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109169394A (en) * | 2018-07-24 | 2019-01-11 | 青岛农业大学 | Full-automatic-feed picks up egg vehicle and its control method |
| CN109169394B (en) * | 2018-07-24 | 2023-07-21 | 青岛农业大学 | Full-automatic feeding egg picking vehicle and control method thereof |
| CN110313414A (en) * | 2019-06-28 | 2019-10-11 | 湖南欣牧达畜牧设备有限公司 | It is a kind of to take egg except excrement integration apparatus for poultry farming |
| CN113702085A (en) * | 2020-05-20 | 2021-11-26 | 淡江大学 | Animal sample pickup device and system thereof |
| CN114600797A (en) * | 2022-03-31 | 2022-06-10 | 中国农业大学 | Egg pickup device |
| CN115191373A (en) * | 2022-05-25 | 2022-10-18 | 田东前位畜牧科技有限公司 | Automatic egg picking device in chicken coop |
| CN115191373B (en) * | 2022-05-25 | 2024-01-12 | 田东前位畜牧科技有限公司 | Automatic egg picking device in chicken coop |
| CN115389427A (en) * | 2022-09-16 | 2022-11-25 | 山东大佳机械有限公司 | Automatic egg crack detection and classification system and method based on self-learning |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171229 |