CN108501008B

CN108501008B - Pick up egg clamping jaw

Info

Publication number: CN108501008B
Application number: CN201810294072.XA
Authority: CN
Inventors: 赵晓月
Original assignee: Jiangsu Lujia Agriculture And Animal Husbandry Technology Co ltd
Current assignee: Jiangsu Lujia Ecological Agricultural Technology Co., Ltd
Priority date: 2018-03-30
Filing date: 2018-03-30
Publication date: 2020-08-07
Anticipated expiration: 2038-03-30
Also published as: CN108501008A

Abstract

The invention relates to an egg picking clamping jaw, and belongs to the field of advanced manufacturing and machine vision related technical equipment. Mainly comprises a substrate; the lifting mechanism is used for driving the substrate to move along the Z axis; the X-axis egg clamping mechanism is arranged on the base plate and is provided with an X-axis egg support capable of moving in an X axis; the Y-axis egg clamping mechanism is arranged on the base plate and is provided with a Y-axis egg support capable of moving in a Y axis; the first camera is arranged on the side face of the base plate and used for identifying whether eggs exist in the egg tank or not; and the second camera is arranged on the lower surface of the substrate and used for judging the position of the egg. The clamping jaw provided by the invention can separate and grab target eggs from an egg group.

Description

Pick up egg clamping jaw

Technical Field

The invention relates to the field of advanced manufacturing and machine vision related technical equipment, in particular to an egg picking clamping jaw.

Background

In the current large-scale chicken farm, eggs need to be picked up manually and placed in an egg basket regularly and orderly with the big end upwards and the small end downwards. The manual egg picking workload is large, large physical power needs to be consumed, and the efficiency is low.

In order to solve the defects, in the prior art, partial researches on the related technologies of the egg picking robot and the egg picking clamping jaws exist. For example: chinese patent publication No. CN202264222U provides an automatic egg picking manipulator. The scheme mainly comprises three clamping jaws, a cylinder for controlling the actions of the three clamping jaws and a main body capable of moving with multiple degrees of freedom. This scheme is used for detecting the egg position through installing the sensor on three clamping jaw, and three clamping jaw concerted action is grabbed the egg, and the main part action is placed the egg in the tray, can save the manpower to a certain extent, improves work efficiency.

For another example, chinese patent publication No. CN105145407A provides a robot for automatically picking up eggs. The six-joint robot mainly comprises a six-joint robot main body, a sliding plate, a fixed sliding rail, a square egg cylinder assembly and an egg frame assembly, wherein the sliding plate and the fixed sliding rail are convenient for the robot to move. The robot main part drives square egg section of thick bamboo subassembly and removes and the action, and square egg section of thick bamboo subassembly is used for picking up the egg, and egg frame subassembly is used for holding the egg that is not received away. In this scheme, detect the quantity of egg and the position change of robot through a plurality of sensors to can receive away the egg from the egg shelf subassembly in batches.

In both of the above two schemes, there are certain drawbacks, namely: neither robot can pick up a single egg in a group of eggs independently and place it in a tray. As a well-known part, laying hens are usually kept in the same hen tank, and each laying hen has about 0.8 eggs per day. When a plurality of laying hens lay eggs, the eggs are irregularly stacked together to form an egg group.

Patent document CN202264222U discloses that the gripping jaw gripping process mainly includes two actions of opening and closing, and can rapidly grip one egg without egg around at a time. Because the clamping jaw is pneumatic clamping jaw, then when target egg piles up together with other eggs and becomes the egg crowd, different clamping jaw closure in-process internal sensor can detect the egg and then stop the action, makes the clamping jaw unable complete closure, causes the egg unable to snatch. And the pneumatic clamping jaw has higher working noise and can influence the egg yield of the laying hens.

Although chinese publication No. CN105145407A has low operating noise, it is also impossible to individually separate and place target eggs in an egg group, and only the eggs can be manually sorted after being taken out from an egg rack in batches.

Therefore, how to design a novel clamping jaw, which can separate target eggs from an egg group and place the target eggs in an egg basket, and realize highly automated egg picking work is a problem that needs to be solved by those skilled in the art.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide an egg picking clamping jaw. The clamping jaw provided by the invention can separate and grab target eggs from an egg group.

In order to achieve the purpose, the invention adopts the following technical scheme:

an egg picking clamping jaw comprising:

a substrate;

the lifting mechanism is used for driving the substrate to move along the Z axis;

the X-axis egg clamping mechanism is arranged on the base plate and is provided with an X-axis egg support capable of moving in an X axis;

the Y-axis egg clamping mechanism is arranged on the base plate and is provided with a Y-axis egg support capable of moving in a Y axis;

the first camera is arranged on the side face of the base plate and used for identifying whether eggs exist in the egg tank or not;

and the second camera is arranged on the lower surface of the substrate and used for judging the position of the egg.

Preferably, the Y-axis egg holding mechanism includes:

the Y-axis motor mounting plate, the first bearing seat, the second bearing seat and the Y-axis slide rail are fixedly connected with the substrate;

a Y-axis motor is arranged on the Y-axis motor mounting plate;

the Y-axis motor transmits power to the Y-axis screw rod, and two ends of the Y-axis screw rod are respectively arranged in the first bearing block and the second bearing block;

the Y-axis lead screw drives the Y-axis nut seat to move;

two sides of the Y-axis nut seat are fixedly connected with the Y-axis sliding block respectively;

the Y-axis slide block and the Y-axis slide rail form a slide pair;

a first egg support is fixedly connected to the first bearing seat;

and a second egg support is fixedly connected to the Y-axis nut seat.

The first egg support and the second egg support are used for clamping small heads of eggs. Wherein, through the rotation of Y axle lead screw, realize that first egg holds in the palm and the change of distance between the second egg holds in the palm, and then accomplish the centre gripping to the egg microcephaly and can place the egg in egg basket with microcephaly decurrent gesture.

Preferably, the Y-axis motor, the first bearing seat, the second bearing seat and the Y-axis nut seat are coaxial.

Preferably, the X-axis egg clamping mechanism comprises:

the X-axis motor mounting plate, the third bearing seat, the fourth bearing seat and the X-axis slide rail are fixedly connected with the substrate;

an X-axis motor is arranged on the X-axis motor mounting plate;

the X-axis motor transmits power to the X-axis screw rod, and two ends of the X-axis screw rod are respectively arranged in the third bearing seat and the fourth bearing seat;

the X-axis lead screw drives the X-axis nut seat to move;

two sides of the X-axis nut seat are fixedly connected with the X-axis sliding block respectively;

the X-axis sliding block and the X-axis sliding rail form a sliding pair;

and a third egg support and a fourth egg support are fixedly connected to the X-axis nut seat.

The third egg support and the fourth egg support are larger than the first egg support and the second egg support in size.

The third egg support and the fourth egg support are used for clamping the big end of an egg. Through the rotation of X axle lead screw, realize that third egg holds in the palm and fourth egg holds in the palm the first egg of syntropy holds in the palm and the second egg holds in the palm the removal (X axle removes promptly), then first egg holds in the palm, the second egg holds in the palm, the X axle distance between third egg holds in the palm and the fourth egg holds in the palm diminishes, with the egg centre gripping.

The four egg trays can be integrally driven by the lifting mechanism to move along the Z axis, so that when a target egg is positioned in an egg group, the third egg tray and the fourth egg tray can be inserted into gaps between the target egg and other eggs. Meanwhile, the third egg support and the fourth egg support can move in the X direction synchronously. Therefore, the stacked eggs can be separated from other eggs under the driving of the third egg support and the fourth egg support, so that the eggs can be clamped conveniently.

Preferably, the X-axis motor, the third bearing seat, the fourth bearing seat and the X-axis nut seat are coaxial.

Preferably, the third egg support and the fourth egg support are symmetrically arranged by taking the X-axis screw rod as an axis.

Preferably, the lifting mechanism is an electric cylinder.

Preferably, the lifting mechanism is fixedly connected with the flange plate.

Preferably, a sponge cushion layer (or a rubber cushion layer) is adhered to the inner sides of the first egg support, the second egg support, the third egg support and the fourth egg support.

The invention has the beneficial effects that:

(1) the third egg support and the fourth egg support can be inserted into gaps between a target egg and other eggs under the driving of the lifting mechanism; the target egg can be separated from other eggs under the drive of an X-axis motor and can be clamped in the X-axis direction; the Y-axis motor can clamp the Y-axis of the target egg under the driving of the Y-axis motor, so that the single target egg can be separated and clamped.

(2) The distance between the first egg support and the second egg support is variable, so that the target egg can be placed in the egg support in a posture that the large end is upward and the small end is downward after being clamped, and the automation degree of egg picking is improved.

(3) All egg holds in the palm horizontal migration only, and the distance can change between the different egg holds in the palm, then snatchs target egg precision higher, can not take place to snatch the unexpected condition of two or more eggs simultaneously.

(4) Can automatic identification egg with snatch the egg, need not to reform transform factory building and chicken coop structure.

(5) Elevating system can drive the base plate and reciprocate, and the robot need not the action, remedies the robot and probably takes place the drawback of interfering with the egg groove, makes this device can be applicable to the chicken coop of different chicken groove layer intervals.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a Y-axis egg holding mechanism according to the present invention;

FIG. 3 is a schematic structural view of an X-axis egg holding mechanism according to the present invention;

FIG. 4 is a bottom view of the present invention;

FIG. 5 is an assembly schematic of the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

FIG. 7 is a schematic diagram of the positioning principle for the separation of target eggs;

fig. 8 is a schematic view of the clamping principle for the separation of a target egg;

FIG. 9 is a schematic diagram illustrating an egg picking state according to the present invention;

fig. 10 is a partial enlarged view at B in fig. 9;

wherein:

a lifting mechanism 1100, a flange 1101;

a substrate 1200;

a Y-axis egg clamping mechanism 1300;

a Y-axis motor mounting plate 1301, a Y-axis motor 1302, a first bearing seat 1303, a first egg support 1304, a Y-axis slide rail 1305, a Y-axis nut seat 1306, a second bearing seat 1307, a Y-axis lead bar 1308, a second egg support 1309 and a Y-axis slide block 1310;

an X-axis egg clamping mechanism 1400;

a fourth bearing seat 1401, an X-axis slide rail 1402, an X-axis lead screw 1403, an X-axis nut seat 1404, a third bearing seat 1405, an X-axis motor mounting plate 1406, an X-axis motor 1407, a third egg support 1408, a fourth egg support 1409 and an X-axis slide block 1410;

an image acquisition mechanism 1500;

a second camera 1501, a camera mounting plate 1502, a first camera 1503;

a six-joint robot 2;

a first egg 3001, a second egg 3002, a third egg 3003, a fourth egg 3004.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings.

Example (b): an egg picking clamping jaw is structurally shown in figures 1-4 and comprises:

a substrate 1200 and a lifting mechanism 1100. The lifting mechanism 1100 is preferably an electric cylinder, a piston rod of the electric cylinder is fixedly connected to the upper surface of the base plate 1200, and a cylinder seat of the electric cylinder is fixedly connected to the flange 1101. The electric cylinder is used for driving the substrate 1200 to move along the Z axis.

The base plate 1200 is provided with a Y-axis egg holding mechanism 1300, an X-axis egg holding mechanism 1400, and an image acquisition mechanism 1500. The image acquisition mechanism 1500 includes a second camera 1501 mounted on the lower surface of the board 1200, a camera mounting plate 1502 mounted on the side surface of the board 1200, and a first camera 1503 mounted on the camera mounting plate 1502. The second camera 1501 is used for acquiring the number of eggs and the position information of the eggs, and the first camera 1503 is used for identifying whether the eggs exist in the egg tank or not.

The Y-axis egg clamping mechanism 1300 mainly includes a Y-axis motor mounting plate 1301 fixedly connected to the Y-axis side of the base plate 1200, a first bearing seat 1303 mounted on the lower surface of the base plate 1200, a second bearing seat 1307, and a Y-axis slide rail 1305. The two ends of the Y-axis wire rod 1308 are mounted in the first bearing housing 1303 and the second bearing housing 1307, respectively. A Y-axis motor 1302 is provided on the Y-axis motor mounting plate 1301, and the Y-axis motor 1302 transmits power to a Y-axis lead 1308 through a coupling. The Y-axis lead 1308 is threaded to move the Y-axis nut seat 1306.

Two sides of the Y-axis nut seat 1306 are fixedly connected with a Y-axis sliding block 1310 respectively. The Y-axis slider 1310 and the Y-axis slide 1305 constitute a slide pair. A first egg support 1304 is fixedly connected to the first bearing seat 1303, and a second egg support 1309 is fixedly connected to the Y-axis nut seat 1306.

In the invention, the first egg holder 1304 and the second egg holder 1309 are used for holding the small heads of eggs. The Y-axis motor 1302 drives the Y-axis lead 1308 to rotate, so that the Y-axis nut seat 1306 moves in the Y axis direction, the distance between the first egg support 1304 and the second egg support 1309 changes, Y-direction clamping of small ends of eggs is further completed, and the Y-axis egg clamp is also suitable for eggs with different sizes.

Preferably, the Y-axis motor 1302, the first bearing seat 1303, the second bearing seat 1307, the Y-axis lead screw 1308 and the Y-axis nut seat 1306 are coaxial.

The X-axis egg clamping mechanism 1400 includes an X-axis motor mounting plate 1406 fixedly connected to the X-axis side of the substrate 1200, a third bearing block 1405 mounted on the lower surface of the substrate 1200, a fourth bearing block 1401, and an X-axis slide rail 1402. Both ends of the X-axis wire 1403 are respectively installed in the third bearing seat 1405 and the fourth bearing seat 1401. An X-axis motor 1407 is provided on the X-axis motor mounting plate 1406, and the X-axis motor 1407 transmits power to the X-axis wire 1403 via a coupling. The X-axis screw 1403 drives the X-axis nut block 1404 to move through the screw.

Two sides of the X-axis nut seat 1404 are fixedly connected with an X-axis sliding block 1410 respectively. The X-axis slider 1410 and the X-axis slide rail 1402 constitute a sliding pair. A third egg holder 1408 and a fourth egg holder 1409 are fixedly connected to the X-axis nut seat 1404. The third egg holder 1408 and the fourth egg holder 1409 are used for holding big ends of eggs.

The third egg holder 1408 and the fourth egg holder 1409 are symmetrically arranged with the X-axis screw 1403 as an axis. And the third egg tray 1408 and the fourth egg tray 1409 are each larger in size than the first egg tray 1304 and the second egg tray 1309.

Under the drive of the X-axis motor 1407, the X-axis lead 1403 rotates, the X-axis nut seat 1404 moves, and the third egg holder 1408 and the fourth egg holder 1409 move synchronously, so that the third egg holder 1408 and the fourth egg holder 1409 move close to and away from the first egg holder 1304 and the second egg holder 1309.

Preferably, the X-axis motor 1407, the third bearing seat 1405, the fourth bearing seat 1401, the X-axis lead 1403 and the X-axis nut seat 1404 are coaxial.

From the viewpoint of improving the applicability and the clamping stability, a rubber/sponge cushion layer may be additionally installed inside the four egg holders. Because the rubber/sponge cushion layer is easy to compress, the stability of the egg is improved after being clamped. And because different eggs have slightly different sizes, the egg tray provided with the rubber/sponge liner layer can be suitable for eggs laid by different varieties of laying hens.

In general, this apparatus needs to be attached to the execution end of an articulated robot (the articulated robot is attached to the egg tank side). For example, as shown in fig. 5 and 6, the present device is attached to the execution end (wrist) of a conventional six-joint robot 2. After the installation is finished, the first camera 1503 and the second camera 1501 need to be communicated with the processing system of the six-joint robot 2, so that the first camera 1503 and the second camera 1501 can be used as the eyes of the six-joint robot 2 to form machine vision with the processing system of the six-joint robot 2, and further eggs stacked in a whole can be analyzed, and then the target eggs are clamped and stored.

After the laying hens lay eggs, the eggs slide in the egg grooves under the action of gravity, the first camera 1503 continuously acquires information of the egg grooves, and then the images of the egg grooves are transmitted to the processing system. Because the colors of the eggs are different from those of the egg tank, the egg laying post-processing system of the laying hens can know that the target egg tank has eggs, and then sends an instruction to the six-joint robot 2 to move the six-joint robot to the side of the eggs, and the base plate 1200 is positioned right above the target eggs.

Referring to fig. 7, the second camera 1501 photographs eggs from top to bottom, and transmits image information of the eggs to the processing system, so that the information of the number of the eggs in the photographed area, the orientation information of the big end and the small end of each egg, and the spatial information of the adjacent eggs are processed by the processing system, and a target egg coordinate system is established.

Subsequently, the six-joint robot 2 drives the base plate 1200 to move, so that the base plate 1200 is located at a proper distance right above the first egg 3001 (target egg), and the X-axis of the base plate 1200 coincides with the target egg. Next, the Y-axis motor 1302 is activated, such that the distance between the first egg tray 1304 and the second egg tray 1309 is slightly greater than the distance between the small ends of the first egg 3001. The lifting mechanism 1100 operates to lower the base plate 1200, so that the first egg holder 1304 is inserted into a gap between the first egg 3001 and another egg, and the second egg holder 1309 is inserted into a gap between the first egg 3001 and the egg tank wall.

When the X-axis motor 1407 is operated, the third egg holder 1408 and the fourth egg holder 1409 move to the first egg holder 1304 and the second egg holder 1309 synchronously, and the first egg 3001 moves to the right under the action of the third egg holder 1408 and the fourth egg holder 1409 and is attached to the first egg holder 1304 and the second egg holder 1309 tightly, so that the first egg 3001 (the target egg) is clamped.

The lifting mechanism 1100 is operated again, and the base plate 1200 is lifted, so that the first egg 3001 (target egg) is taken out.

Since the six-joint robot 2 has multiple degrees of freedom and is a prior art, the six-joint robot 2 does not need to be described herein in detail in the process of transferring the first egg 3001 (target egg) from the egg trough to the upper side of the egg basket.

Referring to fig. 9 and 10, when the first egg 3001 (the target egg) is positioned above the egg basket with the big end facing upward and the small end facing downward, the Y-axis motor 1302 is activated, and the second egg tray 1309 starts to be away from the first egg tray 1304. The distance between the second egg holder 1309 and the first egg holder 1304 is increased, the whole clamping jaw cannot continuously clamp the first egg 3001, and the first egg 3001 falls into the egg trough in a state that the big end is upward and the small end is downward under the action of gravity.

The above process is repeated to complete the picking of the second egg 3002, the third egg 3003 and the fourth egg 3004.

According to the invention, through innovating the clamping jaw structure and by means of a machine vision technology, the six-joint robot provided with the clamping jaw can automatically identify whether eggs exist in an egg tank or not, the number and stacking information of the eggs, and clamp and place target eggs, so that the automation degree of a farm can be greatly improved, the labor intensity of manpower is further reduced, and the egg picking speed is increased.

One point to be noted is that the first egg 3001 (the target egg) in fig. 7 and 8 has a large head on the left side and a small head on the right side, so the above-mentioned gripping process does not show the separation process of the first egg 3001 (the target egg) from other eggs. If the positions of other eggs are kept unchanged, and the big end of the first egg 3001 (target egg) is on the right side and the small end is on the left side, the clamping jaws rotate 180 degrees, so that the third egg holder 1408 and the fourth egg holder 1409 are inserted into gaps on two sides of the big end of the first egg 3001 (target egg), and the X-axis motor 1407 operates, so that the first egg 3001 (target egg) moves leftwards under the pushing of the third egg holder 1408 and the fourth egg holder 1409 until the first egg holder 1304 and the second egg holder 1309 are tightly attached, and the process that the first egg 3001 is separated from other eggs and then is grabbed is realized.

Whether the egg separation instruction is executed first or the egg grabbing instruction is executed directly depends on the state of the target egg and the space around the target egg. The specific process to be performed is determined by the machine vision system.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and features disclosed herein.

Claims

1. An egg picking clamping jaw is characterized by comprising:

a substrate;

the Y-axis egg clamping mechanism is arranged on the base plate and is provided with a Y-axis egg support capable of moving along the Y axis;

the second camera is arranged on the lower surface of the substrate and used for judging the position of an egg;

y axle egg fixture includes:

a Y-axis motor is arranged on the Y-axis motor mounting plate;

the Y-axis motor transmits power to the Y-axis screw rod;

the Y-axis lead screw drives the Y-axis nut seat to move;

the Y-axis slide block and the Y-axis slide rail form a slide pair;

a first egg support is fixedly connected to the first bearing seat;

a second egg support is fixedly connected to the Y-axis nut seat;

x axle egg fixture includes:

an X-axis motor is arranged on the X-axis motor mounting plate;

the X-axis motor transmits power to the X-axis screw rod;

the X-axis lead screw drives the X-axis nut seat to move;

the X-axis sliding block and the X-axis sliding rail form a sliding pair;

the X-axis nut seat is fixedly connected with a third egg support and a fourth egg support;

and sponge cushion layers are bonded on the inner sides of the first egg support, the second egg support, the third egg support and the fourth egg support.

2. The egg picking jaw of claim 1, wherein the Y-axis motor, the first bearing block, the second bearing block, and the Y-axis nut block are coaxial.

3. The egg picking jaw of claim 1, wherein the X-axis motor, the third bearing block, the fourth bearing block and the X-axis nut block are coaxial.

4. The egg picking clamping jaw as claimed in claim 1, wherein the third egg tray and the fourth egg tray are symmetrically arranged with an X-axis screw rod as an axis.

5. An egg picking gripper as claimed in claim 1, wherein the lifting mechanism is an electric cylinder.

6. The egg picking gripper as claimed in claim 1, wherein the lifting mechanism is fixedly connected to the flange.