CN110833048A - Pick up egg robot - Google Patents
Pick up egg robot Download PDFInfo
- Publication number
- CN110833048A CN110833048A CN201911305267.0A CN201911305267A CN110833048A CN 110833048 A CN110833048 A CN 110833048A CN 201911305267 A CN201911305267 A CN 201911305267A CN 110833048 A CN110833048 A CN 110833048A
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- Prior art keywords
- motor
- platform
- fixed
- placing
- egg
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- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 235000013601 eggs Nutrition 0.000 claims description 67
- 238000013519 translation Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000000694 effects Effects 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000287828 Gallus gallus Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
- B65G2201/0208—Eggs
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Birds (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Wrapping Of Specific Fragile Articles (AREA)
Abstract
The application discloses an egg picking robot which comprises a robot body, wherein the robot body comprises a grabbing device arranged at the rear part of the robot body, a transmission device arranged at the middle part, a placing device arranged at the front part, a clamping device arranged at the left part of the placing device, and a storage device arranged at the lower part of the placing device, wherein the placing device is communicated with the storage device; this automatic tray-filling pile up neatly machine people of egg can replace egg code wheel staff's effect, has both practiced thrift the human cost, also provides convenient for later stage vanning processing and transportation.
Description
Technical Field
The application relates to the technical field of robots, in particular to an egg picking robot.
Background
With the development of automation and intelligent industries, the traditional industry is about to reform and innovate, most of domestic chicken farms still adopt a method for manually picking up eggs at present, the method is time-consuming, low in efficiency and high in labor cost, and aiming at the problems, it is necessary to design an egg picking robot to replace manpower.
Disclosure of Invention
The main aim at of this application provides a pick up egg robot to solve present artifical problem consuming time hard.
In order to achieve the purpose, the application provides an egg picking robot which comprises a robot body and a control system thereof, wherein the robot body comprises a grabbing device arranged at the rear part of the robot body, a transmission device arranged at the middle part of the robot body, a placing device arranged at the front part of the robot body, a clamping device arranged at the left part of the placing device, and a storage device arranged at the lower part of the placing device, wherein the placing device is communicated with the storage device;
the gripping device comprises a hydraulic lifting system, a first rotating mechanism, a horizontal moving mechanism and a gripping mechanism;
the transmission device comprises a conveyor belt mechanism and a supporting mechanism;
the placing device comprises a moving mechanism, an isolating mechanism, a baffle mechanism, a built-in slope mechanism and a placing hole;
the clamping device comprises a translation mechanism, a second rotating mechanism, a fixed clamping mechanism and a movable clamping mechanism;
the storage device comprises a lifting platform and an egg placing tray;
the control system comprises a central control module, a navigation module, a driving module and a power supply module; the central control module is connected with the navigation module, the driving module and the power supply module.
Furthermore, the hydraulic lifting system comprises two hydraulic cylinders fixed on the chassis, a matching system of the two hydraulic cylinders, and a first rotating mechanism platform connected with the hydraulic cylinders.
Furthermore, first rotary mechanism is including being fixed in the first rotary mechanism motor on the first rotary mechanism platform, the vertical rotary rod of being connected with first rotary mechanism motor, and first rotary mechanism motor is rotatory to drive horizontal motion mechanism and snatch the mechanism and rotate, arranges in directly over putting the device after accomplishing to snatch the egg.
Furthermore, the horizontal movement mechanism comprises a horizontal movement mechanism motor fixed on the angle frame, a ball screw connected with the horizontal movement mechanism motor, and a placing platform positioned on the ball screw.
Further, snatch the mechanism including being fixed in the driving motor on the place the platform, the arc tongs of being connected with driving motor to and with the fixed lateral part baffle of arc tongs, driving motor moves, drives the arc tongs and opens and shuts the action, accomplish and snatch, release the action, the lateral part baffle prevents that the egg from dropping.
Further, the conveyor belt mechanism comprises a driving shaft, a driven shaft, a rotating belt and a driving shaft driving motor for driving the driving shaft.
Further, the support mechanism comprises a lower support fixed on the chassis, a bearing and an upper support for fixing.
Furthermore, the moving mechanism comprises a moving mechanism motor fixed inside the placing device, a ball screw connected with the moving mechanism motor, and a vertical fixing rod matched with the ball screw.
Furthermore, the isolation mechanism comprises five baffle plates fixed inside the placing device.
Furthermore, the baffle mechanism comprises a baffle mechanism motor fixed outside the placing device and a crank baffle structure connected with the baffle mechanism motor.
Furthermore, the built-in slope mechanism and the placing holes comprise slopes with certain inclination angles, and six placing holes at the tail ends of the slopes, through which eggs can pass.
Furthermore, the translation mechanism comprises a translation mechanism motor fixed on the chassis, a ball screw lever connected with the translation mechanism motor, and a translation platform arranged on the ball screw lever.
Furthermore, the second rotating mechanism comprises a second rotating mechanism motor fixed on the translation platform, a vertical rod connected with the second rotating mechanism motor, and a clamping platform fixed with the vertical rod.
Further, fixed fixture is including being fixed in the centre gripping anchor clamps on the centre gripping platform, and this centre gripping anchor clamps can be according to the size customization of egg balance.
Furthermore, the movable clamping mechanism comprises a movable clamping motor fixed on the angle frame, a ball screw lever connected with the movable clamping motor, and a clamping fixture arranged on the ball screw lever.
Furthermore, the liftable platform comprises a liftable platform motor fixed on the shell at the bottom of the platform, a link mechanism connected with the liftable platform motor, and an upper platform fixed on the link mechanism.
Furthermore, the egg placing plate is used for placing eggs, and the specification of the egg placing plate can be used according to the existing specification of the market.
The beneficial benefits of the application are: by the egg picking robot, the problems of time and labor consumption, low efficiency and high labor cost in egg picking at present are solved; this pick up egg robot can replace the effect of picking up egg staff to can accomplish putting of egg, both practice thrift the human cost, also for later stage vanning processing and transportation provide convenient.
Drawings
FIG. 1 is a schematic view of an overall structure of a robot in a grabbing state according to the present application;
FIG. 2 is a schematic view of an overall structure of a robot in a throwing state according to the present application;
FIG. 3 is a schematic structural view of a robotic grasping device of the present application;
FIG. 4 is a schematic structural view of a robotic grasping device according to the present application;
FIG. 5 is a schematic side view of the robotic transmission of the present application;
FIG. 6 is a schematic top view of the robotic transmission of the present application;
FIG. 7 is a schematic side view of the robot placement device of the present application;
FIG. 8 is a schematic top view of the robot placement device of the present application;
FIG. 9 is a schematic top view of the robotic gripper of the present application;
FIG. 10 is a side view of the robotic gripper of the present application;
fig. 11 is a schematic structural diagram of a robot storage device according to the present application.
Detailed Description
The present application will be further described with reference to the accompanying drawings to illustrate the present invention in detail.
As shown in fig. 1 to 11, an egg picking robot comprises a robot body and a control system thereof, wherein the robot body comprises a gripping device 3 arranged at the rear part of the robot body, a transmission device 4 arranged at the middle part, a placing device 5 arranged at the front part, a clamping device 6 arranged at the left part of the placing device 5, and a storage device 7 arranged at the lower part of the placing device 5, wherein the placing device 5 is communicated with the storage device 7;
the gripping device 3 comprises a hydraulic lifting system 31, a first rotating mechanism 32, a horizontal moving mechanism 33 and a gripping mechanism 34, and mainly finishes the gripping function of eggs;
the transmission device 4 comprises a conveyor belt mechanism 41 and a support mechanism 42, and mainly realizes the conveying function of placing plates filled with eggs and not filled with eggs;
the placing device 5 comprises a moving mechanism 51, an isolating mechanism 52, a baffle mechanism 53, a built-in slope mechanism 54 and a placing hole 55, and mainly achieves the egg placing and stacking function;
the clamping device 6 comprises a translation mechanism 61, a second rotating mechanism 62, a fixed clamping mechanism 63 and a movable clamping mechanism 64, and mainly carries the empty egg trays and the full egg trays;
the storage device 7 comprises a lifting platform 71 and an egg placing tray 72, and mainly completes the placing and storage of the egg tray;
the hydraulic lifting system 31 comprises two hydraulic cylinders 311 fixed on the chassis and a matching system 312 thereof, and a first rotating mechanism platform 313 connected with the hydraulic cylinders, wherein the hydraulic matching system 312 works to enable the hydraulic cylinders 311 to complete stretching and retraction, and drives the first rotating mechanism platform 313 to move up and down, so that the robot can grasp eggs with different height layers.
The first rotating mechanism 32 comprises a first rotating mechanism motor 321 fixed on the first rotating mechanism platform 313 and a vertical rotating rod 322 connected with the first rotating mechanism motor 321, the first rotating mechanism motor 321 rotates to drive the vertical rotating rod 322 to rotate, so that the horizontal moving mechanism 33 and the grabbing mechanism 34 are driven to rotate, and eggs are placed right above the placing device after being grabbed.
The horizontal movement mechanism 33 includes a horizontal movement mechanism motor 331 fixed on the corner bracket, a ball screw 332 connected with the horizontal movement mechanism motor 331, and a placing platform 333 located on the ball screw 332, wherein the horizontal movement mechanism motor 331 rotates to drive the ball screw 332 to move, so that the placing platform 333 moves horizontally, and thus the horizontal movement (left and right) of the grabbing mechanism 34 is completed.
The gripping mechanism 34 includes a driving motor 341 fixed on the placing platform 333, an arc-shaped hand grip 342 connected with the driving motor 341, and a side blocking plate 343 fixed with the arc-shaped hand grip 342, wherein the driving motor 341 moves to drive the arc-shaped hand grip 342 to open and close, thereby completing the gripping and releasing actions, and the side blocking plate 343 prevents the eggs from falling.
The conveyor belt mechanism 41 comprises a driving shaft 411, a driven shaft 412, a rotating belt 413 and a driving shaft driving motor 414 for driving the driving shaft, wherein the driving shaft driving motor 414 moves to drive the driving shaft 411 to move, the rotating belt 413 rotates, and the driven shaft 412 plays a role in steering and supporting.
The supporting mechanism 42 comprises a lower support 421 fixed on the chassis, a bearing 422 and an upper support 423 used for fixing, the bearing 422 is placed on the lower support 421, a driving shaft 411 and a driven shaft 412 are installed inside the bearing, the upper support 423 is matched with the lower support 421, the bearing 422 is fixed, and the egg plate conveying is completed by matching with the conveying belt mechanism 41.
The moving mechanism 51 comprises a moving mechanism motor 511 fixed inside the placing device 5, a ball screw 512 connected with the moving mechanism motor, and a vertical fixing rod 513 matched with the ball screw 512, wherein the moving mechanism motor 511 rotates to drive the ball screw 512 to move back and forth, so that the front and back movement of the placing device is realized, and the placing of transverse multiple rows of eggs is completed.
The isolation mechanism 52 comprises five baffle plates 521 fixed inside the placing device 5, the five baffle plates 521 divide the inside of the placing device 5 into six, and the six placing areas of the egg tray are matched to complete the placing of six eggs in the same horizontal row.
Baffle mechanism 53 is including being fixed in baffle mechanism motor 531 of putting 5 outsides, crank baffle structure 532 of being connected with baffle mechanism motor 531, baffle mechanism motor 531 motion drives crank baffle structure 532 along fixed circular arc motion, when having an egg through putting hole 55, crank baffle structure 532 puts down and stops the egg at the back and get into and put the hole, it has a plurality of eggs to place the same position and puts, all put the completion when horizontal egg, moving mechanism 51 moves to next horizontal row after, crank baffle structure 532 rises and lets the egg pass through, the outside cover of crank baffle structure 532 is equipped with the sponge.
The built-in slope mechanism 54 and the placing holes 55 comprise slopes 541 with certain inclination angles, six placing holes 551 at the tail ends of the slopes and counters 552 for sensing whether eggs pass through, the eggs can roll to the placing holes 551 through the slopes 541 with certain inclination angles, the placing holes 551 enable the eggs to pass through, and the counters 552 judge whether eggs pass through.
The translation mechanism 61 comprises a translation mechanism motor 611 fixed on the chassis, a ball screw lever 612 connected with the translation mechanism motor 611, and a translation platform 613 arranged on the ball screw lever 612, wherein the translation mechanism motor 611 rotates to drive the ball screw lever 612 to move, so that the translation platform 613 moves horizontally, the clamping mechanism is driven to move horizontally, the movement of the placing tray is completed, and the placing of the placing tray is completed by matching with the lifting platform 71.
The second rotating mechanism 62 includes a second rotating mechanism motor 621 fixed on the translation platform 613, a vertical rod 622 connected to the second rotating mechanism motor 621, and a clamping platform 623 fixed to the vertical rod 622, wherein the second rotating mechanism motor 621 rotates to drive the vertical rod 622 to rotate, so as to rotate the clamping platform 623 fixed to the vertical rod 622, and complete the transportation of the placing disc between the conveyor belt mechanism 41 and the liftable platform 71.
The fixed clamping mechanism 63 comprises a clamping fixture 631 fixed on the clamping platform 623, the clamping fixture can be customized according to the size of the egg tray, and the clamping fixture 631 clamps the left side of the egg tray.
The movable clamping mechanism 64 comprises a movable clamping motor 641 fixed on the corner bracket, a ball screw lever 642 connected with the movable clamping motor 641, and a clamping fixture 643 arranged on the ball screw lever 642, wherein the movable clamping motor 641 moves, the clamping fixture 643 moves through the ball screw lever 642, and the clamping and the placing of the placing disk are completed by matching with the clamping fixture 631.
The lifting platform 71 comprises a lifting platform motor 711 fixed on a shell at the bottom of the platform, a link mechanism 712 connected with the lifting platform motor 711, and an upper platform 713 fixed on the link mechanism 712, wherein the lifting platform motor 711 moves to drive the link mechanism 712 to move up and down, and the egg tray layers are stacked and placed by matching with the clamping device 6.
The egg placing tray 72 is used for placing eggs, and the specification of the egg placing tray can be used according to the existing specification of the market.
The beneficial benefits of the application are: by the egg picking robot, the problems of time and labor consumption, low efficiency and high labor cost in egg picking at present are solved; this pick up egg robot can replace the effect of picking up egg staff to can accomplish putting of egg, both practice thrift the human cost, also for later stage vanning processing and transportation provide convenient.
Claims (9)
1. The egg picking robot is characterized by comprising a robot body, wherein the robot body comprises a grabbing device arranged at the rear part of the robot body, a transmission device arranged at the middle part, a placing device arranged at the front part, a clamping device arranged at the left part of the placing device and a storage device arranged at the lower part of the placing device, and the placing device is communicated with the storage device;
the gripping device comprises a hydraulic lifting system, a first rotating mechanism, a horizontal moving mechanism and a gripping mechanism;
the transmission device comprises a conveyor belt mechanism and a supporting mechanism;
the placing device comprises a moving mechanism, an isolating mechanism, a baffle mechanism, a built-in slope mechanism and a placing hole;
the clamping device comprises a translation mechanism, a second rotating mechanism, a fixed clamping mechanism and a movable clamping mechanism;
the storage device comprises a lifting platform and an egg placing tray;
the hydraulic lifting system comprises two hydraulic cylinders fixed on the chassis, a matched system of the two hydraulic cylinders and a first rotating mechanism platform connected with the hydraulic cylinders;
the first rotating mechanism comprises a first rotating mechanism motor fixed on the first rotating mechanism platform and a vertical rotating rod connected with the first rotating mechanism motor, the first rotating mechanism motor rotates to drive the horizontal moving mechanism and the grabbing mechanism to rotate, and the eggs are placed right above the placing device after being grabbed;
the horizontal movement mechanism comprises a horizontal movement mechanism motor fixed on the angle bracket, a ball screw connected with the horizontal movement mechanism motor, and a placing platform positioned on the ball screw;
snatch the mechanism including being fixed in the driving motor on the place the platform, the arc tongs of being connected with driving motor to and with the fixed lateral part baffle of arc tongs, driving motor moves, drives the arc tongs action of opening and shutting, accomplish and snatch, release the action, the lateral part baffle prevents that the egg from dropping.
2. The egg picking robot as claimed in claim 1, wherein the conveyor mechanism comprises a driving shaft, a driven shaft, a rotating belt, and a driving shaft driving motor for driving the driving shaft.
3. The egg picking robot as claimed in claim 1, wherein the support mechanism comprises a lower support fixed to the chassis, a bearing, and an upper support for fixing.
4. The egg picking robot as claimed in claim 1, wherein the moving mechanism comprises a moving mechanism motor fixed inside the placing device, a ball screw connected with the moving mechanism motor, and a vertical fixing rod matched with the ball screw.
5. The egg picking robot as claimed in claim 1, wherein the baffle mechanism comprises a baffle mechanism motor fixed outside the placing device, and a crank baffle structure connected with the baffle mechanism motor.
6. The egg picking robot as recited in claim 1, wherein the translation mechanism includes a translation mechanism motor fixed to the chassis, a ball screw lever connected to the translation mechanism motor, and a translation platform disposed on the ball screw lever.
7. The egg picking robot of claim 1, wherein the second rotating mechanism comprises a second rotating mechanism motor fixed to the translation platform, a vertical rod connected to the second rotating mechanism motor, and a holding platform fixed to the vertical rod.
8. The egg picking robot as claimed in claim 1, wherein the movable clamping mechanism comprises a movable clamping motor fixed to the corner bracket, a ball screw lever connected to the movable clamping motor, and a clamping fixture disposed on the ball screw lever.
9. The egg picking robot as claimed in claim 1, wherein the liftable platform comprises a liftable platform motor fixed to a bottom housing of the platform, a link mechanism connected to the liftable platform motor, and an upper platform fixed to the link mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911305267.0A CN110833048A (en) | 2019-12-18 | 2019-12-18 | Pick up egg robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911305267.0A CN110833048A (en) | 2019-12-18 | 2019-12-18 | Pick up egg robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110833048A true CN110833048A (en) | 2020-02-25 |
Family
ID=69578791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911305267.0A Pending CN110833048A (en) | 2019-12-18 | 2019-12-18 | Pick up egg robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110833048A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111660311A (en) * | 2020-06-16 | 2020-09-15 | 扬州大学 | Intelligent hatching egg sorting and boxing robot and operation method thereof |
| CN112425529A (en) * | 2020-11-30 | 2021-03-02 | 余文婷 | Egg collection device |
| CN113940290A (en) * | 2021-12-02 | 2022-01-18 | 李瑞辉 | Chicken farm egg automatic picking and collecting device capable of being arranged neatly |
| CN114987826A (en) * | 2022-06-18 | 2022-09-02 | 厚德食品股份有限公司 | A back way vanning device for laying hen is bred |
| WO2022207766A1 (en) | 2021-03-30 | 2022-10-06 | Izario Poultry Robotics Limited | Egg collection system comprising an autonomous robot for retrieving eggs and method of collecting eggs |
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| CN106719100A (en) * | 2016-11-15 | 2017-05-31 | 江汉大学 | A kind of egg sorting arrangement |
| CN106927224A (en) * | 2017-03-14 | 2017-07-07 | 苏州鸿轩蛋业有限公司 | A kind of raw material egg quick load machine |
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| CN207773588U (en) * | 2018-01-30 | 2018-08-28 | 北京正大蛋业有限公司 | A kind of rotation clamping device and egg tray Automatic Code spiral shell device |
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| CN109650039A (en) * | 2018-12-25 | 2019-04-19 | 江苏科飞机械有限公司 | Intelligent egg tray separator |
| CN209120971U (en) * | 2019-05-06 | 2019-07-19 | 中国农业大学烟台研究院 | A kind of chicken farm takes egg device |
| CN212116676U (en) * | 2019-12-18 | 2020-12-11 | 陕西中建建乐智能机器人股份有限公司 | Pick up egg robot |
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2019
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| US20020131855A1 (en) * | 2001-01-15 | 2002-09-19 | Sanovo Engineering A/S | Destacking apparatus with a number of lifting devices for mechanical destacking of egg trays |
| CN104012427A (en) * | 2014-06-30 | 2014-09-03 | 王帅 | Automatic egg picking-up and casing device |
| CN105292567A (en) * | 2015-11-12 | 2016-02-03 | 上海电机学院 | Egg collecting and packaging device |
| CN106719100A (en) * | 2016-11-15 | 2017-05-31 | 江汉大学 | A kind of egg sorting arrangement |
| CN106927224A (en) * | 2017-03-14 | 2017-07-07 | 苏州鸿轩蛋业有限公司 | A kind of raw material egg quick load machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111660311A (en) * | 2020-06-16 | 2020-09-15 | 扬州大学 | Intelligent hatching egg sorting and boxing robot and operation method thereof |
| CN111660311B (en) * | 2020-06-16 | 2022-05-10 | 扬州大学 | Intelligent hatching egg sorting and boxing robot and operation method thereof |
| CN112425529A (en) * | 2020-11-30 | 2021-03-02 | 余文婷 | Egg collection device |
| WO2022207766A1 (en) | 2021-03-30 | 2022-10-06 | Izario Poultry Robotics Limited | Egg collection system comprising an autonomous robot for retrieving eggs and method of collecting eggs |
| CN113940290A (en) * | 2021-12-02 | 2022-01-18 | 李瑞辉 | Chicken farm egg automatic picking and collecting device capable of being arranged neatly |
| CN114987826A (en) * | 2022-06-18 | 2022-09-02 | 厚德食品股份有限公司 | A back way vanning device for laying hen is bred |
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