CN111618830B - Rectangular coordinate poultry robot integrated platform - Google Patents
Rectangular coordinate poultry robot integrated platform Download PDFInfo
- Publication number
- CN111618830B CN111618830B CN202010518993.7A CN202010518993A CN111618830B CN 111618830 B CN111618830 B CN 111618830B CN 202010518993 A CN202010518993 A CN 202010518993A CN 111618830 B CN111618830 B CN 111618830B
- Authority
- CN
- China
- Prior art keywords
- poultry
- axis moving
- moving module
- workbench
- robot
- 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.)
- Active
Links
- 244000144977 poultry Species 0.000 title claims abstract description 104
- 210000003323 beak Anatomy 0.000 claims description 18
- 229960005486 vaccine Drugs 0.000 claims description 16
- 238000002347 injection Methods 0.000 claims description 11
- 239000007924 injection Substances 0.000 claims description 11
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 2
- 235000013594 poultry meat Nutrition 0.000 description 78
- 241000271566 Aves Species 0.000 description 7
- 230000003139 buffering effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000272517 Anseriformes Species 0.000 description 1
- 241000287828 Gallus gallus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013330 chicken meat Nutrition 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 210000003746 feather Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000010254 subcutaneous injection Methods 0.000 description 1
- 239000007929 subcutaneous injection Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- 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
- A01K45/00—Other aviculture appliances, e.g. devices for determining whether a bird is about to lay
- A01K45/005—Harvesting or transport of poultry
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D1/00—Surgical instruments for veterinary use
- A61D1/005—Devices for trimming, cutting, cauterising beaks, spurs, or the like, of poultry or other birds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D7/00—Devices or methods for introducing solid, liquid, or gaseous remedies or other materials into or onto the bodies of animals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Animal Husbandry (AREA)
- Birds (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Environmental Sciences (AREA)
- Surgery (AREA)
- Biodiversity & Conservation Biology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rectangular coordinate poultry grabbing robot integrated platform which comprises a workbench, a poultry conveying groove, a poultry placing frame and a rectangular coordinate robot, wherein the poultry conveying groove is arranged on the workbench, the rectangular coordinate robot comprises an X-axis moving module arranged on the workbench, a Y-axis moving module arranged on the X-axis moving module and a Z-axis moving module arranged on the Y-axis moving module, and a buffer sucker and a rotating motor for controlling the rotation of the buffer sucker are arranged on the Z-axis moving module so as to limit the position of poultry on the poultry placing frame through the suction of the buffer sucker and the movement of the Y-axis moving module and the Z-axis moving module in the axial direction. The working efficiency is improved, and the labor intensity is reduced.
Description
Technical Field
The invention relates to the field of cultivation equipment, in particular to a rectangular coordinate poultry grabbing robot integrated platform.
Background
When raising poultry such as chickens and ducks on a large scale, the poultry is injected with vaccine and broken beak for a certain time, so that the loss caused by extensive diseases and feather pecking of the poultry is prevented. Injecting vaccine and beak breakage into poultry is a very tedious process, and it is very difficult to inject and beak breakage into each individual bird by subcutaneous injection, especially for large-scale poultry farms, and it is possible to lose the vaccine injection and beak breakage in a short time. At present, a plurality of devices for injecting vaccines and breaking beaks are provided, but the device for grabbing the birds to perform the breaking beaks and injecting the vaccines is manually carried out, the mode has the advantages of large workload, high labor intensity and low working efficiency, is easy to cause the risk of casualties of the birds, is not suitable for the requirements of large-scale poultry cultivation, and is very required to assist the device for grabbing the birds to perform the injection of the vaccines and the breaking beaks.
Disclosure of Invention
The invention aims to provide a rectangular coordinate poultry grabbing robot integrated platform which can well solve the problem of grabbing poultry, assist in vaccine injection and beak breaking operation, reduce labor intensity and improve work efficiency.
The technical scheme for solving the problems is as follows: the utility model provides a rectangular coordinates grabs birds robot integration platform, includes the workstation, locates the poultry transportation groove on the workstation, puts birds frame and rectangular coordinates robot, rectangular coordinates robot is including locating X axle on the workstation removes the module, locates Y axle on the module removes the module and locates install the buffering sucking disc on the Y axle removes the module and be used for controlling the rotatory rotating electrical machines's of buffering sucking disc Z axle removes the module, in order to pass through the absorption of buffering sucking disc and Y axle removes the module, Z axle removes the module and is in axial direction's removal completion to the poultry is in the restriction of putting the last position of birds frame.
Preferably, the poultry processing device further comprises an industrial camera frame arranged on the workbench, an industrial camera arranged on the industrial camera frame and used for identifying poultry characteristics, and a display electrically connected with the industrial camera.
Preferably, the poultry positioning device further comprises an electric control cabinet arranged on the workbench, a touch screen and a control button which are electrically connected with the electric control cabinet, and the limiting operation of the poultry on the poultry positioning frame is completed through the industrial camera, the electric control cabinet, the touch screen and the control button.
Preferably, the poultry rack is provided with two clamping arms which can enclose a clamping groove for holding the broken beaks of the poultry and injecting vaccine, and an air cylinder for driving the clamping arms to clamp the poultry.
Preferably, a conveyor belt and a detector are also provided in the poultry transportation tank, which conveyor belt is intended to transport the poultry to the suction area.
Preferably, two support posts for supporting and fixing the X-axis moving module are arranged on the workbench along the vertical direction.
Preferably, the buffer sucker is also provided with a buffer telescopic pipe.
Preferably, the X-axis moving module, the Y-axis moving module and the Z-axis moving module are all provided with screw rods, and the screw rods are driven to rotate through motors, so that the linear modules are driven to axially move along the screw rods.
Preferably, the buffer sucker is characterized by further comprising an air pump and a pressure regulating filter, wherein the air pump and the pressure regulating filter are arranged on the workbench and used for being matched with the rotating motor to drive the buffer sucker to move.
The invention has the beneficial effects that: the integrated platform of the rectangular-coordinate poultry grasping robot is characterized in that six parts of an industrial camera frame, an industrial camera, a rectangular-coordinate robot, a poultry rack, a poultry transportation groove, a buffer sucker and the like are arranged as one module, and the number of the modules can be increased or reduced according to the requirements of a poultry farm; this device is through electric control cabinet, motor, rectangular robot and buffering sucking disc etc. are accomplished the absorption to the poultry and are moved to the poultry frame department of putting, and the poultry frame of putting that sets up is including the draw-in groove that clamping arm and two clamping arms formed, can cooperate other relevant automatic beaks of breaking and vaccine injection device to use, accomplishes the broken beak of poultry and vaccine injection, greatly reduced artifical intensity of labour, improvement work efficiency, snatch and put the poultry precision height, have higher use value.
Drawings
Fig. 1 is a structural diagram of an integrated platform of a rectangular coordinate bird-grasping robot.
Fig. 2 is a front view of an industrial camera mount according to an embodiment of the invention.
Fig. 3 is a block diagram of a buffer chuck according to an embodiment of the present invention.
Fig. 4 is a top view of a poultry transportation tank in accordance with an embodiment of the present invention.
Fig. 5 is a partial block diagram of a rectangular robot according to an embodiment of the present invention.
Fig. 6 is a partial construction view of a poultry housing according to an embodiment of the present invention.
Fig. 7 is a schematic workflow diagram of an integrated rectangular coordinate bird-grasping robot platform according to the invention.
In the figure:
1-industry camera frame, 2-industry camera, 3-rectangular coordinate robot, 31-X axle remove the module, 32-Y axle remove the module, 33-Z axle remove the module, 4-put birds frame, 41-centre gripping arm, 42-draw-in groove, 5-touch-sensitive screen, 6-control button, 7-switch board, 8-poultry transportation groove, 81-detector, 9-workstation, 91-pillar, 10-buffering sucking disc, 11-buffering flexible pipe, 12-motor.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention and the technical solutions in the prior art, the following description will explain specific embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, from which other drawings can be obtained and from which other embodiments can be obtained without inventive effort for a person skilled in the art, and that the invention is not limited to these examples.
Please refer to fig. 1 to 6. The rectangular-coordinate poultry-grabbing robot integrated platform comprises a workbench 9, a poultry transportation groove 8, a poultry-placing frame 4 and a rectangular-coordinate robot 3, wherein the poultry transportation groove 8 is arranged on the workbench 9, the rectangular-coordinate robot 3 comprises an X-axis moving module 31, a Y-axis moving module 32 and a Z-axis moving module 33, the X-axis moving module 31 is arranged on the workbench 9, the Z-axis moving module 33 is arranged on the Y-axis moving module 32, and a buffer sucker 10 and a rotating motor (not shown in the figure) for controlling the rotation of the buffer sucker 10 are arranged on the Y-axis moving module 32, so that the position of poultry on the poultry-placing frame 4 is limited by the suction of the buffer sucker 10 and the movement of the Y-axis moving module 32 and the Z-axis moving module 33 in the axial direction.
It should be noted that, in the above axial direction, the X-axis moving module 31 is fixed, the Y-axis moving module 32 may move along the axial direction of the X-axis (i.e. with reference to fig. 3, move laterally), and the Z-axis moving module 33 may move along the axial direction of the Y-axis moving module on the Y-axis moving module, and may also move along the axial direction of the Z-axis moving module itself (i.e. lifting function), which is specifically based on the principle that the X-axis moving module 31, the Y-axis moving module 32, and the Z-axis moving module 33 are all provided with screws (not shown in the figure), and the screws are driven to rotate by the motor 12, so as to drive the linear modules to move along the axial direction of the screws, thereby realizing the driving of the buffer suction disc 10, completing the sucking of the poultry in the poultry transporting tank 8, and the sucking of the sucked poultry onto the poultry rack 4 and other positions.
Furthermore, the rectangular robot 3 and the X-axis moving module 31, Y-axis moving module 32 and Z-axis moving module 33 thereof can be also means of the prior art, so that the purpose of the present technical solution can be achieved, and the specific working principle is not described too much.
Please refer to fig. 1 and 5 again. In this example, the device may further include an industrial camera frame 1 disposed on the workbench, an industrial camera 2 disposed on the industrial camera frame 1 for identifying the characteristics of the poultry, and a display (not shown in the figure) electrically connected to the industrial camera 2, where the purpose of doing so is that the bottom of the industrial camera frame 1 is mounted on the workbench 9, and the top is used for fixing the industrial camera 2, so as to facilitate the photographing of the industrial camera 2 to identify the characteristics of the poultry, and the characteristics of the poultry are specifically that the industrial camera 2 is mounted on the industrial camera frame 1, and is mainly used for identifying the direction and beak direction of the poultry, so as to facilitate the assistance of the rectangular robot 3 to quickly and accurately grasp the poultry; the display can refer to any device, for example, the image or video shot and identified by the industrial camera 2 can be uploaded to a computer, and whether the poultry grabbing working state on the rectangular robot 3 is normal can be observed through the computer display.
It is added that the rotating motor is mounted on the Z-axis moving module 33 to control the buffer sucker 10 to rotate, and specifically, after observing the shape and the position of the head of the poultry through the industrial camera 2 and sucking the poultry through the buffer sucker 10, the sucked poultry can be correctly placed on the poultry rack 4 by matching with the rectangular robot 3 to rotate to a proper angle. The visual detection part relates to the interaction content of a robot and a PLC, and completely belongs to the known technology, and a person skilled in the art can completely realize the visual detection part, and more specifically, can refer to the Chinese patent with the application number of CN201611200067.5, so that the aim to be achieved by the technical scheme is well realized.
Please refer to fig. 1 again. In this example, the device may further include an electrical control cabinet 7 disposed on the workbench 9, a touch screen 5 and a control button 6 electrically connected to the electrical control cabinet 7, and the industrial camera 2, the electrical control cabinet 7, the touch screen 5 and the control button 6 complete the limiting operation of the poultry on the poultry rack 4, which is faced with that, through the disposed electrical control cabinet 7, the touch screen 5 and the control button 6, a part of control functions are implemented, and the specific principle can be implemented by the existing technical means, and it is clear and implemented by those skilled in the art and not described herein too.
Referring to fig. 6 again, the poultry frame 4 may be further provided with two holding arms 41 enclosing a slot 42 for holding the broken beak and vaccine injection of poultry and a cylinder (not shown) for driving the holding arms 41 to hold the poultry, which has the advantage that the poultry frame 4 can complete holding and fixing of the poultry by the two holding arms 41 and the formed slot 42, so as to be convenient for matching with other broken beak and vaccine injection devices to complete the broken beak and vaccine injection treatment of the poultry.
It should be added that when forming a suitable clamping groove 42 (or U-shaped groove) for clamping and placing poultry, the two clamping arms 41 on the poultry rack 4 can be used alternatively, that is, the cylinder can drive one clamping arm 41 to move singly or drive the two clamping arms 41 to move simultaneously, so as to reduce the waiting time of the rectangular robot 3 and improve the working efficiency.
Please refer to fig. 5 and fig. 7 again. In this case, a conveyor belt (not shown) for transporting the poultry to the sucking area and a detector 81 are further disposed in the poultry transporting tank 8, and the specific detector 81 includes, but is not limited to, an infrared positioner, so that the automatic transportation of the poultry can be realized through the conveyor belt, and the conveyor belt can be used for transporting the poultry outside the workbench 9 (the non-injected area) into the poultry transporting tank 8 for sucking and performing vaccine injection and beak breaking, or transporting the poultry completed by the vaccine injection and beak breaking from the inside of the poultry transporting tank 8 to the outside of the workbench (the injected area) through the conveyor belt, and the like; the detector 81 is mainly used for detecting whether or not poultry exist in the poultry transportation tank 8 by detecting whether or not poultry exist in the poultry transportation tank 8, so as to control the operation of the transportation belt and the grabbing action of the buffer suction cup 10, and ensure that no excessive poultry are stacked in the poultry transportation tank 8.
Referring to fig. 5 again, in this embodiment, two posts 91 for supporting and fixing the X-axis moving module 31 are vertically disposed on the table 9, so as to fix the X-axis moving module 31, and the table 9 is at a certain height, so that the sucking of the poultry by the sucking disc 10 is buffered.
Please refer to fig. 4 again. In this example, the buffer sucker 10 may further be provided with a buffer telescopic tube 11, which has the advantage that the buffer telescopic tube 11 is used for playing a buffering role when the buffer sucker 10 stretches and contracts, specifically, after the buffer sucker 10 is lowered to make it enter the poultry transportation tank 8 to contact with poultry, the buffer sucker 10 is lowered continuously at the moment, the lowering distance of the buffer sucker 10 is less, and the outer wall of the buffer telescopic tube 11 is folded and contracted, so that the buffer role is played and damage to the poultry is avoided.
In this embodiment, in the implementation, an air pump (not shown) for driving the buffer suction cup 10 to move in cooperation with the rotating motor (not shown) and a pressure-adjusting filter (not shown) are further disposed on the workbench 9, the air pump is used for generating negative air pressure to complete the suction of the buffer suction cup 10 to the poultry, and the pressure-adjusting filter is used for connecting with an air pipe, so that the air hose can move and work, and meanwhile, the air-adjusting device has an extra-large stepless precise air pressure-adjusting knob, so that the required air pressure can be easily adjusted. The specific pressure regulating filter can be any commercially available product or the prior art, and the aim can be achieved.
Specific embodiments of the present invention are described in detail above. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which are available in the prior art through logic analysis, reasoning or limited experiments by those skilled in the art, which are considered by the present invention, shall be within the scope of protection defined by the present claims.
Claims (6)
1. The utility model provides a rectangular coordinates grabs birds robot integration platform which characterized in that: the poultry frame comprises a workbench (9), a poultry transportation groove (8) arranged on the workbench (9), a poultry frame (4) and a rectangular robot (3), wherein the rectangular robot (3) comprises an X-axis moving module (31) arranged on the workbench (9), a Y-axis moving module (32) arranged on the X-axis moving module (31) and a Z-axis moving module (33) arranged on the Y-axis moving module (32) and provided with a buffer sucker (10) and a rotating motor for controlling the buffer sucker (10) to rotate, so that the position of poultry on the poultry frame (4) is limited by the suction of the buffer sucker (10) and the movement of the Y-axis moving module (32) and the Z-axis moving module (33) in the axial direction;
two clamping arms (41) which can enclose a clamping groove (42) for holding broken beaks and vaccine injection of poultry and a cylinder for driving the clamping arms (41) to clamp the poultry are arranged on the poultry rack (4);
a conveyor belt and a detector (81) are arranged in the poultry conveying groove (8) for conveying the poultry to the sucking area;
the buffer sucker (10) is also provided with a buffer telescopic pipe (11).
2. The integrated rectangular poultry robot platform of claim 1, wherein: the poultry-detecting device further comprises an industrial camera frame (1) arranged on the workbench (9), an industrial camera (2) arranged on the industrial camera frame (1) and used for identifying poultry characteristics, and a display electrically connected with the industrial camera (2).
3. The integrated rectangular poultry robot platform according to claim 2, wherein: the poultry positioning device is characterized by further comprising an electric control cabinet (7) arranged on the workbench (9), a touch screen (5) and a control button (6) which are electrically connected with the electric control cabinet (7), wherein limiting operation of the position of the poultry on the poultry positioning frame (4) is completed through the industrial camera (2), the electric control cabinet (7), the touch screen (5) and the control button (6).
4. The integrated rectangular poultry robot platform of claim 1, wherein: two struts (91) for supporting and fixing the X-axis moving module (31) are arranged on the workbench (9) along the vertical direction.
5. The integrated rectangular poultry robot platform of claim 1, wherein: the X-axis moving module (31), the Y-axis moving module (32) and the Z-axis moving module (33) are all provided with screw rods, and the screw rods are driven to rotate through motors, so that the linear modules are driven to axially move along the screw rods.
6. The integrated rectangular poultry robot platform of claim 1, wherein: the device also comprises an air pump and a pressure regulating filter which are arranged on the workbench (9) and used for being matched with the rotating motor to drive the buffer sucker (10) to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010518993.7A CN111618830B (en) | 2020-06-09 | 2020-06-09 | Rectangular coordinate poultry robot integrated platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010518993.7A CN111618830B (en) | 2020-06-09 | 2020-06-09 | Rectangular coordinate poultry robot integrated platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111618830A CN111618830A (en) | 2020-09-04 |
| CN111618830B true CN111618830B (en) | 2023-12-26 |
Family
ID=72268459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010518993.7A Active CN111618830B (en) | 2020-06-09 | 2020-06-09 | Rectangular coordinate poultry robot integrated platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111618830B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2281060A1 (en) * | 1974-08-07 | 1976-03-05 | Lissot Jean | AUTOMATIC APPARATUS FOR SHAPING THE BEC OF YOUNG POULTRY AND PERFORMING THE ORAL VACCINATION |
| CN103803114A (en) * | 2014-02-27 | 2014-05-21 | 李胜多 | Small sized smart egg packing device |
| CN104369188A (en) * | 2014-11-20 | 2015-02-25 | 中国计量学院 | Workpiece grabbing device and method based on machine vision and ultrasonic transducer |
| JP2016202094A (en) * | 2015-04-23 | 2016-12-08 | 有限会社Ｙｋテクノリサーチ | Automated mass production device of shell-fish software shell |
| CN207791932U (en) * | 2017-12-04 | 2018-08-31 | 北京农业信息技术研究中心 | A kind of egg washing production line feeding device |
| CN109335075A (en) * | 2018-11-22 | 2019-02-15 | 安徽田园居电子商务有限公司 | A kind of postal delivery birds, beasts and eggs packing machine |
| CN110141392A (en) * | 2019-06-18 | 2019-08-20 | 东莞市慧德自动化设备有限公司 | One kind from dynamic circuit breaker beak, injection all-in-one machine |
| CN209367340U (en) * | 2018-12-28 | 2019-09-10 | 东莞职业技术学院 | A kind of card plug box automatic charging positioning device |
| CN209950241U (en) * | 2018-12-27 | 2020-01-17 | 广州富港万嘉智能科技有限公司 | A centre gripping mobile device and poultry processing equipment for poultry |
| CN212241041U (en) * | 2020-06-09 | 2020-12-29 | 湖州职业技术学院 | Rectangular coordinate grabs birds robot integration platform |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI595958B (en) * | 2014-09-30 | 2017-08-21 | 佳能股份有限公司 | Automated assembly apparatus, automated assembly system and automated assembly method |
-
2020
- 2020-06-09 CN CN202010518993.7A patent/CN111618830B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2281060A1 (en) * | 1974-08-07 | 1976-03-05 | Lissot Jean | AUTOMATIC APPARATUS FOR SHAPING THE BEC OF YOUNG POULTRY AND PERFORMING THE ORAL VACCINATION |
| CN103803114A (en) * | 2014-02-27 | 2014-05-21 | 李胜多 | Small sized smart egg packing device |
| CN104369188A (en) * | 2014-11-20 | 2015-02-25 | 中国计量学院 | Workpiece grabbing device and method based on machine vision and ultrasonic transducer |
| JP2016202094A (en) * | 2015-04-23 | 2016-12-08 | 有限会社Ｙｋテクノリサーチ | Automated mass production device of shell-fish software shell |
| CN207791932U (en) * | 2017-12-04 | 2018-08-31 | 北京农业信息技术研究中心 | A kind of egg washing production line feeding device |
| CN109335075A (en) * | 2018-11-22 | 2019-02-15 | 安徽田园居电子商务有限公司 | A kind of postal delivery birds, beasts and eggs packing machine |
| CN209950241U (en) * | 2018-12-27 | 2020-01-17 | 广州富港万嘉智能科技有限公司 | A centre gripping mobile device and poultry processing equipment for poultry |
| CN209367340U (en) * | 2018-12-28 | 2019-09-10 | 东莞职业技术学院 | A kind of card plug box automatic charging positioning device |
| CN110141392A (en) * | 2019-06-18 | 2019-08-20 | 东莞市慧德自动化设备有限公司 | One kind from dynamic circuit breaker beak, injection all-in-one machine |
| CN212241041U (en) * | 2020-06-09 | 2020-12-29 | 湖州职业技术学院 | Rectangular coordinate grabs birds robot integration platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111618830A (en) | 2020-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106377425B (en) | Intelligent dispensing equipment | |
| CN105966927B (en) | Corner protector stacks fetching and sending devices | |
| CN108501009A (en) | A kind of Jian Dan robots | |
| CN108770600A (en) | Needle mushroom picker | |
| CN108888136A (en) | A kind of intelligence egg liquid collection system and method | |
| CN111618830B (en) | Rectangular coordinate poultry robot integrated platform | |
| CN212241041U (en) | Rectangular coordinate grabs birds robot integration platform | |
| CN107926767B (en) | Assembly line type automatic honey extractor | |
| CN210126916U (en) | Positioning and grabbing device | |
| CN102995183B (en) | Continuous bobbin conveying and inserting device of doffing machine | |
| CN104960819B (en) | Edible Fungi bottle basket goes up undercarriage method and device automatically | |
| CN108391602B (en) | Chick gender identification system and chick gender identification method | |
| CN112673962A (en) | Movable automatic milking equipment | |
| CN106614079B (en) | A bear device for chick shifts temporarily | |
| CN110882084A (en) | Intelligent animal injection device | |
| CN110431999B (en) | Gantry type automatic fruit harvesting robot | |
| CN107214909A (en) | The automatic feeder being embedded to for injection machine inserts | |
| CN102502259B (en) | Automatic water testing manipulator for LED screen | |
| CN116636882A (en) | Oral virus sampling device and control system thereof | |
| CN206862291U (en) | Animal lint length intensities detector | |
| CN207369888U (en) | The robot of egg is picked up in automatic inspection | |
| CN106546088A (en) | Air drying system | |
| CN211546536U (en) | Microbial community automatic counting device | |
| CN205381704U (en) | Automatic production water line who goes up unloader and contain it of intelligence single armed | |
| CN207417877U (en) | A kind of automatic top bottom-disc device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |