CN115191373A

CN115191373A - Automatic egg picking device in chicken coop

Info

Publication number: CN115191373A
Application number: CN202210578861.2A
Authority: CN
Inventors: 魏大兵
Original assignee: Tiandong Qianwei Animal Husbandry Technology Co ltd
Current assignee: Tiandong Qianwei Animal Husbandry Technology Co ltd
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2022-10-18
Anticipated expiration: 2042-05-25
Also published as: CN115191373B

Abstract

The invention relates to the technical field of industrial production of eggs, in particular to an automatic egg picking device in a henhouse. Automatic egg picking device in chicken coop includes: the egg picking device comprises a conveyor belt, an egg picking manipulator, an egg tray supporting plate, a controller and an image acquisition assembly; the conveying belt is arranged below each row of henhouses and used for collecting and conveying eggs; the egg tray supporting plate is arranged on one side of the egg outlet tail end of the conveyor belt, and an egg taking area is arranged close to the egg outlet tail end; the egg tray supporting plate can be used for placing an egg tray; the egg picking manipulator comprises a mechanical arm and a grabbing claw, the mechanical arm drives the grabbing claw to move between the egg taking area and the egg support plate, and the grabbing claw is used for grabbing eggs; the process of picking up eggs and loading eggs is completed at the tail end of the coop, the labor intensity of workers is obviously reduced, the long-distance conveying process of eggs is reduced, and the eggs are prevented from being polluted in the conveying process of the eggs.

Description

Automatic egg picking device in chicken coop

Technical Field

The invention relates to the technical field of industrial production of eggs, in particular to an automatic egg picking device in a henhouse.

Background

Eggs are an indispensable food material in life, occupy an unobtrusive and indispensable position in a purchase list of consumers, and are conveyed to the market from a chicken farm every day for the consumers to select. For consumers, the freshness and the non-freshness of eggs and whether the eggs are polluted are basic criteria for judging the quality of the eggs.

For egg-laying chicken farms, it is an essential step in the chicken farm to collect a large number of fresh eggs each day, remove the contaminated and damaged eggs, and then load the eggs and send them to the point of sale.

The egg picking mode of the existing chicken farm mainly comprises two modes of manual egg picking and egg sorting after egg collection in an egg storehouse. The manual egg picking mode requires that a worker pushes the trolley regularly to pick up eggs below the coop one by one, the labor intensity of the worker is high, and the demand of the egg picking personnel is increased along with the increase of the number of the chickens.

The mode of letter sorting behind egg storehouse collection egg all sets up a conveyer belt below every row of chicken coop, is provided with an album egg transfer chain and an album egg elevator in the exit of conveyer belt, collects the egg that every row of chicken laid, then sends into the egg storehouse, carries out mechanical sorting in the egg storehouse. The egg picking mode has the advantages that the egg picking efficiency is high, the labor cost is low, the egg transmission distance is long, the eggs are easy to roll when passing through the egg collecting conveying line and the egg collecting elevator and in the mechanical sorting process, the probability of pollution of the eggs can be increased, and the equipment purchase of the whole system needs to cost millions of yuan.

Disclosure of Invention

In order to solve the problems, the invention adopts the technical scheme that:

an automatic egg picking device in a henhouse comprises:

the egg picking device comprises a conveyor belt, an egg picking mechanical arm, an egg tray supporting plate, a controller and an image acquisition assembly;

the conveying belt is arranged below each row of henhouses and used for collecting and conveying eggs;

the egg tray supporting plate is arranged on one side of the egg outlet tail end of the conveyor belt, and an egg taking area is arranged close to the egg outlet tail end; the egg tray supporting plate can be used for placing an egg tray;

the egg picking manipulator comprises a mechanical arm and a grabbing claw, the mechanical arm drives the grabbing claw to move between the egg taking area and the egg support plate, and the grabbing claw is used for grabbing eggs; a weighing sensor is connected between the grabbing claw and the mechanical arm;

the image acquisition assembly acquires images on the egg taking area and the egg tray supporting plate and transmits the images to the controller;

the controller receives the images acquired by the image acquisition assembly and controls the conveyor belt and the egg picking manipulator to move;

wherein, pick up the egg manipulator and snatch the within range and still be provided with unqualified egg and place the district.

Further, the grabbing claw comprises a negative pressure sucker, the negative pressure sucker is connected with a negative pressure driving assembly, and the negative pressure sucker has a negative pressure adsorption state and a non-negative pressure separation state;

the negative pressure adsorption state and the non-negative pressure separation state are not exhibited simultaneously.

Furthermore, a plurality of conveyor belts are arranged in the vertical direction of the coop;

the automatic egg picking device in the henhouse further comprises a lifting mechanism, the lifting mechanism comprises an upright post and a cross beam, and the cross beam is vertically crossed with the upright post; the cross beam is in sliding fit with the upright column;

the egg tray supporting plate and the manipulator are arranged on the cross beam;

the driving component drives the cross beam to move in the length direction of the upright column to correspond to the conveying belt;

the egg taking area and the unqualified egg placing area are arranged on the cross beam and are driven by the cross beam to move.

Furthermore, a lifting assembly is arranged at the bottom of the egg support supporting plate, the lifting assembly drives the egg support supporting plate to lift, and the controller controls the lifting assembly to lift or descend.

Furthermore, a conveyor belt driving motor is arranged on the cross beam and is in power connection with the conveyor belt through a magnetic coupling.

Furthermore, the egg support plate is in sliding fit with the cross beam, a rack is arranged in the length direction of the cross beam, a moving motor is arranged on the egg support plate, a rotating shaft end of the moving motor is connected with a gear, and the gear is meshed with the rack.

Furthermore, the egg tray supporting device also comprises a supporting plate, wherein the supporting plate is arranged on one side of the cross beam, which is connected with the egg tray supporting plate;

the supporting plate and the cross beam are spaced at a certain distance to provide a moving space for the egg tray supporting plate;

the supporting plate is provided with an empty egg tray inlet and a full egg tray outlet;

the egg tray full-filling device comprises a simple manipulator, an empty egg tray inlet, a full egg tray outlet and a full egg tray outlet, wherein the empty egg tray inlet is arranged at one side close to the egg picking manipulator, and the full egg tray outlet is arranged at one side far away from the simple manipulator;

the full egg tray can move from the full egg tray outlet to the supporting plate;

an empty egg tray control assembly is arranged at the empty egg tray inlet, and a full egg tray control assembly is arranged at the full egg tray outlet;

the empty egg tray transfer control assembly has a blocking state and a passing state, and can block the empty egg tray from falling to the egg tray supporting plate when in the blocking state;

the full egg tray transfer control assembly has a blocking state and a passing state, and when the full egg tray transfer control assembly is in the blocking state, the full egg tray can be blocked from falling to the egg tray supporting plate.

Furthermore, the empty egg tray transfer control assembly comprises a first rotating shaft, a stop block and a first elastic resetting piece;

the stop block is rotatably connected with the outer side edge of the empty egg tray inlet through the rotating shaft; the rotating shaft is arranged at one end close to the egg tray supporting plate;

the cross section of the stop block in the axial direction of the first rotating shaft is in a fan shape; the stop block extends towards one end of the empty egg tray in a fan shape;

the stop block is provided with a limiting surface and a control surface, the limiting surface faces one end of the empty egg tray, the control surface faces the inner side of the empty egg tray inlet, the control surface can rotate to the inner side of the empty egg tray inlet, and the control surface can be contacted with the side edge of the egg tray supporting plate;

the first elastic reset piece pushes the stop block to the inner side of the empty egg tray inlet, a limit block is arranged at one end, opposite to the control surface, of the stop block, and the limit block is abutted against the empty egg tray inlet so as to limit the stop block to excessively rotate;

the empty egg tray transfer control assemblies are two groups, and the two groups of empty egg tray transfer control assemblies are arranged on two opposite sides of an empty egg tray inlet.

Furthermore, the full egg tray transfer control assembly comprises a baffle plate, a second rotating shaft, a second elastic reset piece and a rotating shaft limiting piece;

one end of the baffle is connected with the second rotating shaft, and the second rotating shaft is connected with the rotating shaft limiting part, so that the baffle can rotate relative to the outlet of the full egg tray;

the rotating shaft is arranged at the outer side of the outlet of the full egg tray, and one end of the baffle, which is far away from the second rotating shaft, can extend towards the inner side of the outlet of the full egg tray to partially cover the upper part of the outlet of the full egg tray;

the second elastic reset piece presses one end, far away from the second rotating shaft, of the baffle plate to the outlet of the full egg tray;

the two sets of rotating shaft limiting pieces are respectively arranged at two ends of the second rotating shaft, and the rotating shaft limiting pieces limit the second rotating shaft to move towards the lifting direction of the lifting assembly;

the full egg tray transfer control assemblies are arranged in two groups, and the two groups of full egg tray transfer control assemblies are arranged on two opposite sides of the empty egg tray inlet.

Furthermore, the rotating shaft limiting part comprises a limiting gear and a limiting rack;

the limiting gear is fixedly connected with the second rotating shaft, and the second rotating shaft is fixedly connected with the baffle;

the length direction of the rack is perpendicular to the axis of the second rotating shaft, and the limiting gear is meshed with the limiting rack;

the gear rack is characterized by further comprising a limiting strip, wherein the limiting strip is arranged on one side, with teeth, of the limiting rack and is parallel to the limiting rack, the limiting gear is arranged between the limiting rack and the limiting strip, and the outer side of the limiting gear is in contact with the limiting strip.

Further, the second elastic reset piece is a torsion spring, and the torsion spring is arranged on the second rotating shaft in a penetrating mode; and the number of the first and second groups is,

one end torque arm of the torsion spring is abutted against the surface of the baffle, and the other end torque arm of the torsion spring is abutted against the outer side surface of the outlet of the full egg tray.

Furthermore, the arrangement directions of the full egg tray transfer control assembly and the empty egg tray transfer control assembly are mutually crossed; and the number of the first and second groups is,

the distance between two side edges of the egg tray supporting plate close to the empty egg tray transfer control assembly is equal to the distance between two side edges of an empty egg tray inlet on the corresponding side;

the distance between two side edges of the egg tray supporting plate close to the full egg tray transfer control assembly is smaller than the distance between two side edges of the full egg tray outlet on the corresponding side; and the distance between two adjacent sides is greater than the distance from one end of the baffle in a blocking state far away from the second rotating shaft to the side edge of the outlet of the overlapped full egg tray.

The egg tray placing device further comprises a limiting enclosing rod, wherein the limiting enclosing rod extends from the inlet of the empty egg tray and the outlet of the full egg tray to one side for placing the egg tray;

wherein, four piece at least spacing surrounding rods are a set of, and every spacing surrounding rod of group set up respectively in empty egg holds in the palm the entry and full egg holds in the palm four directions of export, spacing surrounding rod restriction egg holds in the palm to empty egg holds in the palm the vertical projection face outside of entry and removes.

The invention has the beneficial effects that:

the invention provides an automatic egg picking device in a henhouse, which directly finishes the processes of egg picking and egg loading at the tail end of a henhouse, obviously reduces the labor intensity of workers, reduces the long-distance egg conveying process and avoids the pollution to eggs in the egg conveying process.

Transfer the egg through picking up egg manipulator and can grade the egg, separate damaged or have the egg that pollutes and complete and clean egg, put into the egg that will meet the requirements and hold in the palm, can transport the sale to the egg after filling with the egg hole in the egg support.

Drawings

FIG. 1 is a schematic installation diagram of an automatic egg picking device in a henhouse provided by the invention;

FIG. 2 is a schematic structural view of an automatic egg picking device in a chicken house provided by the invention;

FIG. 3 is a schematic view of an installation of an image capture assembly provided by the present invention;

FIG. 4 is a schematic view of the gripper jaws and robotic arm connection provided by the present invention;

FIG. 5 is a schematic view of the connection between the egg tray and the cross beam according to the present invention;

FIG. 6 is a schematic view of the installation of the lift assembly provided by the present invention;

FIG. 7 is a schematic view of an egg placement provided by the present invention;

FIG. 8 is a schematic view of the present invention showing egg placement in a vertical projection direction;

FIG. 9 is a schematic view of a support plate arrangement provided by the present invention;

fig. 10 is a schematic view of stacking egg trays according to the present invention;

FIG. 11 is a schematic view of an egg tray transfer control arrangement according to the present invention;

FIG. 12 is a sectional view of a stop arrangement provided by the present invention;

FIG. 13 is a schematic view of the process for emptying egg trays according to the present invention;

FIG. 14 is a schematic view of the connection of the baffle plate when the rotation axis limiting member is a shaft sleeve according to the present invention;

FIG. 15 is a schematic view of the connection of the baffle plate when the rotation shaft limiting members provided by the present invention are the limiting gear and the limiting rack;

fig. 16 is a schematic view illustrating a process of placing a full egg tray when the rotation shaft limiting member is a shaft sleeve according to the present invention;

fig. 17 is a schematic view of a process of placing a full egg tray when the rotation shaft limiting members provided by the present invention are the limiting gear and the limiting rack.

Reference numerals are as follows:

a conveyor belt 1 and an egg outlet end 11;

the egg picking manipulator 2, the mechanical arm 21, the grabbing claw 22, the negative pressure sucker 221 and the weighing sensor 23; the egg tray supporting plate 3, the egg taking area 31, the unqualified egg placing area 32, the lifting assembly 33, the moving motor 34 and the gear 341;

an image acquisition assembly 4;

the vertical column 51, the driving component 511, the cross beam 52, the conveyor belt driving motor 53, the magnetic coupling 54 and the rack 55;

a support plate 6, an empty egg tray inlet 61 and a full egg tray outlet 62;

the first rotating shaft 71, the stop block 72, the limiting surface 721, the control surface 722, the limiting block 723 and the first elastic resetting piece 73;

the device comprises a baffle 81, a second rotating shaft 82, a torsion spring 83, a shaft sleeve 84, a limiting gear 85, a limiting rack 86, a limiting strip 87 and a limiting surrounding rod 88;

egg tray 9, egg hole 91, egg 92, chicken coop 93.

Detailed Description

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

Example 1:

referring to fig. 1 to 17, the present embodiment provides an automatic egg picking device in a henhouse, including: the egg picking device comprises a conveyor belt 1, an egg picking manipulator 2, an egg support plate 3, a controller and an image acquisition assembly;

the conveying belt 1 is arranged below each row of henhouses and used for collecting and conveying eggs; laying hens usually live in the chicken cages 93 in rows in a large-scale chicken farm, eggs roll out from the bottoms of the chicken cages 93 after the hens lay eggs, fall into an egg collecting tank below the eggs, the conveyor belt 1 is arranged at the bottom of the egg collecting tank, the eggs directly fall onto the conveyor belt 1 when rolling, the conveyor belt 1 rotates when the eggs are collected to a certain amount at regular time or the eggs are treated, and the eggs falling onto the conveyor belt are conveyed out.

The egg tray supporting plate 3 is arranged on one side of the egg outlet tail end 11 of the conveyor belt 1, and an egg taking area 31 is arranged at the position close to the egg outlet tail end 11; the egg tray supporting plate 3 can be used for placing an egg tray 9;

the egg outlet end 11 in the embodiment is the end of the conveyor belt 1 for discharging eggs when the conveyor belt 1 rotates, the egg tray 9 is a pulp egg tray or a plastic egg tray which is commonly available in the market, a plurality of egg holes 91 for placing eggs are formed in the egg tray 9, and the eggs are placed in the egg holes 91 individually for transportation and storage. The egg tray supporting plate 3 provides a placing position for the egg tray 9, the egg tray is located in the working range of the egg picking mechanical arm 2 when being placed above the supporting plate, and the egg picking mechanical arm 2 can place the eggs 92 in the egg holes 91 one by one.

The egg taking area 31 is a place where the egg 92 is grabbed by the egg picking mechanical arm 2, the surface of the conveyor belt 1 at the egg outlet end 11 can be selected as the egg taking area 31, or a plate connected with the egg outlet end 11 as shown in fig. 2 can be used as the egg taking area 31, eggs roll to the egg taking area 31 from the egg outlet end 11, and the egg picking mechanical arm 2 again grabs the eggs.

The egg picking manipulator 2 comprises a mechanical arm 21 and a grabbing claw 22, the mechanical arm 21 drives the grabbing claw 22 to move between the egg picking area 31 and the egg support plate 3, and the grabbing claw 22 is used for grabbing eggs; a weighing sensor 23 is connected between the grabbing claw 22 and the mechanical arm 21;

as shown in fig. 2 and 4, preferably, the mechanical arm 21 may be configured as a two-stage arm, the two joint motors are driven to provide a combination of the grabbing claws 22 at each position within the stroke range, the mechanical arm 21 may extend in the horizontal direction, and the supporting points of the mechanical arm 21 may be driven by the lifting motor to enable the lifting arm to be lifted in the vertical direction, so as to lift the grabbed eggs and then place the grabbed eggs into the egg tray. Of course, the selection of the robot arm 21 is not limited to the above-described preferred embodiments, and the gripping of eggs in this embodiment may also be achieved by using a robot arm 21 extending in the vertical direction or a robot arm 21 moving crosswise in the transverse and longitudinal directions.

The weighing sensor 23 can weigh the eggs grabbed each time, so that the eggs can be classified conveniently in terms of weight, and the weight of the eggs loaded in the egg tray is uniform.

The image acquisition assembly acquires images on the egg taking area 31 and the egg tray supporting plate 3 and transmits the images to the controller;

the controller receives images acquired by the image acquisition assembly and controls the conveyor belt 1 and the egg picking manipulator 2 to move;

through the image that the image acquisition subassembly gathered, for picking up egg manipulator 2 provides the position of snatching and placing the egg, conveyer belt 1 stop motion or slow motion when getting the egg of egg district 31 more, conveyer belt 1 motion when the egg of getting egg district 31 is few transports the egg to getting egg district 31. The controller can also detect the quality (surface integrity and cleanliness) of the eggs according to the collected images, and directly remove unqualified eggs.

Wherein, the picking manipulator 2 is also provided with an unqualified egg placing area 32 within the picking range. Pick up egg manipulator 2 and place unqualified egg after snatching into in unqualified egg places the district.

Example 2:

referring to fig. 4, further, the grabbing claw 22 comprises a negative pressure suction cup 221, the negative pressure suction cup 221 is connected to a negative pressure driving assembly 511, and the negative pressure suction cup 221 has a negative pressure suction state and a non-negative pressure disengagement state;

The negative pressure suction cup 221 carries out negative pressure adsorption on the eggs after contacting the eggs, then the eggs are driven to move upwards the egg tray through the rotation of the mechanical arm 21, the eggs are aligned with the egg holes 91 of the egg tray in the vertical direction, and then the negative pressure state is cut off, so that the eggs are separated from the negative pressure suction cup 221 and fall into the egg holes 91. Compared with the clamping type grabbing claw 22, the negative pressure sucker 221 is simpler and more convenient to grab the eggs, only needs to be aligned with the upper portion of the eggs, and is not easy to clamp and hurt the eggs.

The negative pressure power assembly is a negative pressure pump. In some embodiments, the vacuum power assembly may also use a motor to drive a piston to move in a cylinder to provide suction power for the vacuum chuck 221.

Example 3:

referring to fig. 1 and 2, further, a plurality of conveyor belts 1 are arranged in the vertical direction of the coop 93;

the automatic egg picking device in the henhouse further comprises a lifting mechanism, the lifting mechanism comprises an upright post 51 and a cross beam 52, and the cross beam 52 is vertically crossed with the upright post 51; moreover, the cross beam 52 is in sliding fit with the upright 51;

the egg tray supporting plate 3 and the egg picking manipulator 2 are arranged on the cross beam 52;

wherein, the driving component 511 is arranged in the length direction of the upright post 51, and the driving component 511 drives the beam 52 to move in the length direction of the upright post 51 to correspond to the conveyor belt 1;

wherein, get egg district 31 and unqualified egg and place district 32, set up on crossbeam 52, drive by crossbeam 52 and remove.

In order to improve the utilization rate of the floor in the henhouse, a plurality of rows of hencoops 93 are generally arranged in the vertical direction, and a conveyor belt 1 is arranged at each row of hencoops 93 to collect eggs in the row of hencoops 93.

And if all set up egg picking manipulator 2 and egg support layer board 3 in every row's conveyer belt 1 one side, then can double increase the purchase cost of picking up egg device, set up egg support layer board 3 and crossbeam 52 on crossbeam 52 in this embodiment, stand 51 is installed subaerial at chicken coop 93 one end, when drive assembly 511 drives crossbeam 52 along the length removal of stand 51, egg support layer board 3 and egg picking manipulator 2 can dock with the conveyer belt 1 on each layer, egg picking manipulator 2 picks up the egg on conveyer belt 1 one by one when the conveyer belt 1 that docks rotates and holds in the palm in the egg. So many conveyer belts 1 on same vertical face only need set up a set of pick up egg manipulator 2 and egg support layer board 3 can.

Preferably, the sliding fit between the cross beam 52 and the upright 51 is realized by arranging a sliding rail on the upright 51, arranging a sliding block on the cross beam 52, and buckling the sliding rail and the sliding block.

The driving assembly 511 can be provided with a chain transmission as shown in fig. 2, the chain rotates on the upright post 51, the cross beam 52 is connected with the chain, and the chain rotates to drive the cross beam 52 to lift under the driving of the driving motor. Of course, a screw rod and a threaded hole can be matched, the screw rod is arranged along the length direction of the upright post 51, the threaded hole matched with the screw rod is formed in the cross beam 52, and the screw rod is driven to rotate by the driving motor so as to drive the cross beam 52 to lift.

Preferably, for the arrangement mode of the coop 93 that the collecting grooves are formed in both sides of the coop 93, the conveyor belts 1 can be arranged on both sides of the coop, and both ends of the cross beam 52 are respectively provided with the egg picking manipulators 2 and the egg supporting plates 3, and meanwhile, eggs on the conveyor belts 1 on both sides are collected.

Example 4:

referring to fig. 6, further, a lifting assembly 33 is disposed at the bottom of the egg tray supporting plate 3, the lifting assembly 33 drives the egg tray supporting plate 3 to lift, and the controller controls the lifting assembly 33 to lift or lower.

The egg tray supporting plate 3 can drive the egg trays received above the egg tray supporting plate to move in the vertical direction, after all the egg holes 91 on the egg trays are filled with eggs, the egg trays filled with the eggs can be lowered by the height of one egg tray in a descending mode of the lifting assembly 33, then an empty egg tray can be placed above the filled egg tray again, the empty egg tray is filled with the eggs again, the egg tray is repeated for many times, and the egg trays filled with the eggs are transferred to the storage area together after a certain number of egg trays are filled. Only the staff has to put in the trays and move a batch of loaded trays to the storage area.

Preferably, the lifting assembly 33 may adopt a scissor-type lifting structure as shown in fig. 6, one end of the scissor-type lifting structure is connected to the driving motor or the lifting pushing rod, and the other end of the scissor-type lifting structure is connected to the bottom of the egg tray plate 3, and the scissor-type lifting structure is controlled to lift or lower by connecting the driving motor or the lifting pushing rod, and the structure has a larger expansion ratio. Of course, the egg tray supporting plate 3 can be driven to move by arranging screw holes in the moving direction of the egg tray supporting plate 3 to match with the screw rods.

Example 5:

referring to fig. 1 and 2, a conveyor belt driving motor 53 is further disposed on the cross beam 52, and the conveyor belt driving motor 53 is in power connection with the conveyor belt 1 through a magnetic coupling 54.

The magnetic coupling, which is a non-contact transmission connecting device, has one end connected to the output end of the belt driving motor 53 and the other end connected to a driven shaft, which is a shaft for driving the belt to rotate in this example.

When the beam 52 moves to correspond to a conveyor belt, one end of the magnetic coupling 54 on the conveyor belt driving motor 53 is aligned with the magnetic coupling 54 on the conveyor belt, and the conveyor belt driving motor 53 rotates to drive the conveyor belt to rotate. When the beam 52 moves to correspond to another conveyor belt again, the conveyor belt driving motor 53 drives another conveyor belt to move again. Therefore, each conveyor belt in the vertical direction can be driven to move in a time-sharing mode by one conveyor belt driving motor 53, and the installation cost of the conveyor belts is reduced.

Example 6:

referring to fig. 5, further, the egg tray plate 3 is in sliding fit with the cross beam 52, a rack 55 is arranged in the length direction of the cross beam 52, the egg tray plate 3 is provided with the moving motor 34, a gear 341 is connected to the rotating shaft end of the moving motor 34, and the gear 341 is meshed with the rack 55.

Through the rotation of mobile motor 34, can drive egg support layer board 3 and move on crossbeam 52, especially hold in the palm to be full of the egg at the egg, and pick up egg manipulator 2 and set up in the top that the egg held in the palm layer board 3, when being not convenient for take out egg support layer board 3, accessible mobile motor 34 control egg support layer board 3 moves on crossbeam 52, moves to crossbeam 52 middle part, does not have the position of sheltering from, and the staff of being convenient for will many boards fill in the egg of egg and hold in the palm disposable taking out.

Example 7:

referring to fig. 9 and 10, further, the egg tray support further comprises a support plate 6, wherein the support plate 6 is arranged on one side of the cross beam, which is connected with the egg tray support plate;

the supporting plate 6 and the cross beam are spaced at a certain distance to provide a moving space for the egg tray supporting plate;

an empty egg tray inlet 61 and a full egg tray outlet 62 are formed in the supporting plate 6;

the empty egg tray inlet 61 is arranged at one side close to the egg picking manipulator, and the full egg tray outlet is arranged at one side far away from the simple manipulator;

wherein, the empty egg tray can move from the empty egg tray inlet 61 to the egg tray supporting plate, and the full egg tray can move from the full egg tray outlet 62 to the supporting plate 6;

the empty egg tray inlet 61 is provided with an empty egg tray control component, and the full egg tray outlet 62 is provided with a full egg tray control component;

the empty egg tray transfer control assembly has a blocking state and a passing state, and can block the empty egg trays from falling to the egg tray supporting plate when in the blocking state;

In this embodiment, an empty egg tray inlet 61 and a full egg tray outlet 62 are provided above the egg tray support plate in the moving direction, empty egg trays waiting for tray loading can be stacked above the empty egg tray inlet 61, and full egg trays already loaded can be stacked above the full egg tray outlet 62.

Empty egg holds in palm control mobility control assembly and is used for controlling empty egg to hold in the palm the entry 61 from empty egg and drop on the egg tray through empty egg holds in the palm entry 61, and full egg holds in the palm mobility control assembly and is used for controlling full egg to hold in the palm the export 62 top of putting in the palm in the egg after putting in the palm the export 62 from egg tray through full egg.

Specifically, when the eggs are palletized, the egg support supporting plate moves to the position above the hole egg support inlet, the empty egg support movement control assembly is changed into a passing state from a blocking state, an empty egg support at the bottommost part of the stacked empty egg support falls onto the egg support supporting plate, the empty egg support movement control assembly is changed into a blocking state from a passing state, the empty egg support above the empty egg support on the egg support supporting plate is prevented from falling, and then the egg support supporting plate falls into an egg loading area of the egg picking mechanical arm to load eggs.

The egg that holds in the palm egg hole 91 in empty egg fills up the back egg holds in the palm the layer board and moves to full egg and holds in the palm export 62 below again, the upward movement makes full egg on the egg holds in the palm the layer board and holds in the palm the bottom contact with the egg that piles up in full egg support export 62 top, then full egg holds in the palm transfer control subassembly and becomes the passing state by the state that blocks, the egg holds in the palm continues the upward movement, the egg that holds in the palm the layer board and contacts with the egg holds in the palm and moves to on full egg holds in the palm transfer control subassembly, full egg holds in the palm to become the state that blocks once more and blocks the full egg of piling up and holds in the palm, it holds in the palm to whereabouts to place full egg. Then the egg holds in the palm the layer board and moves to empty egg again and holds in the palm entry 61 department and connect new empty egg to hold in the palm the egg, and the transfer process of egg holds in the palm need not staff's participation, and the staff only needs to put into the empty egg that piles up and hold in the palm the export 62 top and take out the full egg that piles up and hold in the palm from empty egg and hold in the palm the entry 61 top.

In some embodiments, the empty egg tray transfer control assembly and the full egg tray transfer control assembly both employ a transverse pin which can move transversely at the empty egg tray inlet 61 and the full egg tray outlet 62 and can enter and exit, the transverse pin is controlled by a controllable electric push rod or a telescopic cylinder to move, and is in a blocking state when entering and in a passing state when exiting.

Example 8:

referring to fig. 11-13, further, the empty egg tray transfer control assembly includes a first rotating shaft 71, a stopper 72, and a first elastic restoring member 73;

the stop block 72 is rotatably connected with the outer side edge of the empty egg tray inlet 61 through the rotating shaft; the rotating shaft is arranged at one end close to the egg tray supporting plate;

wherein, the cross section of the stop block 72 in the axial direction of the first rotating shaft 71 is fan-shaped; the stop block 72 extends in a fan shape towards one end for placing the empty egg tray;

the stop block 72 has a limiting surface 721 and a control surface 722, the limiting surface 721 faces one end of the empty egg tray, the control surface 722 faces the inner side of the empty egg tray entrance 61, the control surface 722 can rotate to the inner side of the empty egg tray entrance 61, and the control surface 722 can contact with the side edge of the egg tray supporting plate;

the first elastic resetting piece 73 pushes the stopper 72 to the inner side of the empty egg tray inlet 61, a limiting block 723 is arranged at one end of the stopper 72 opposite to the control surface 722, and the limiting block 723 is abutted against the empty egg tray inlet 61 to limit the excessive rotation of the stopper 72;

the empty egg tray transfer control assemblies are two groups, and the two groups of empty egg tray transfer control assemblies are arranged on two opposite sides of the empty egg tray inlet 61.

It should be noted that in the present embodiment, the inner side of the hollow egg tray inlet 61 is within the range of the hollow egg tray inlet 61 formed in the support plate 6, the outer side of the hollow egg tray inlet 61 is outside the range of the hollow egg tray inlet 61 in the vertical direction, and the same applies to the full egg tray outlet 62.

In this embodiment, the limiting surface 721 of the block 72 can block the empty egg tray to prevent the hole egg tray from falling below the full egg tray outlet 62. And when lifting unit drove on the egg support layer board that egg holds in the palm export 62 and removes full egg, the egg holds in the palm one side that contacts with control surface 722 on the layer board and contacts with control surface 722, hold in the palm the in-process that the layer board uploaded gradually at the egg, the side that the egg held in the palm the layer board is to stretching into the inboard control surface 722 that the export 62 was held in the egg holds in the palm to full egg and extrude, make dog 72 rotate gradually to the export 62 beyond full egg holds in the palm, and spacing face 721 also rotates to the outside that the export 62 was held in the egg holds in the palm to full egg, relieve stopping that holds in the palm to the hole egg, make empty egg hold in the palm and drop on the egg support layer board. After the empty egg holds in the palm and drops to the egg and holds in the palm the layer board, lifting unit drives the egg and holds in the palm the layer board and move down, and the edge of egg holds in the palm the layer board and releases the extrusion to control surface 722, and dog 72 rotates to full egg again and holds in the palm the export 62 inboard, holds in the palm the empty egg that drops above the empty egg on the layer board and holds in the palm to stopping, and the egg holds in the palm the layer board and continues to move along with egg holds in the palm the layer board to the in-process that descends empty egg that drops on the egg holds in the palm the layer board, and remaining empty egg holds in the palm then and keeps in the top of full egg holds in the palm export 62, and the egg holds in the palm the layer board and only takes an empty egg to hold in the palm once.

The distance from the limiting surface 721 to the axis of the first shaft 71 is less than the thickness of the egg tray, and when the empty egg tray descends to release the extrusion of the control surface 722, the stopper 72 can rotate to the lower side of the previous empty egg tray.

The limiting surface 721 of the fan-shaped stopper 72 is an arc-shaped surface, so that when the empty egg tray descends to release the extrusion on the control surface 722, the arc-shaped limiting surface 721 can more easily enter the lower part of the previous empty egg tray and support the empty egg tray.

The first elastic reset piece 73 pushes the stopper 72 to the inner side of the full egg tray outlet 62, a limiting block 723 is arranged at one end of the stopper 72 opposite to the control surface 722, and the limiting block 723 abuts against the full egg tray outlet 62 to limit the excessive rotation of the stopper 72.

The first elastic reset piece 73 is squeezed and contracted when the egg tray supporting plate moves upwards to squeeze the control surface 722, and resets towards the inner side of the full egg tray outlet 62 when the egg tray supporting plate releases the squeezing of the control surface 722, so that the limiting surface 721 enters the egg tray supporting plate to quickly limit the previous empty egg tray, and the empty egg tray on the upper side is prevented from falling.

Preferably, in some embodiments, the first elastic restoring member 73 may be a torsion spring, which is disposed on the first rotating shaft 71, and one end of the torsion spring is fixed, and the other end of the torsion spring abuts against the stopper 72, so as to push the stopper 72 to the inside of the full egg tray outlet 62, as shown in fig. 12. In other embodiments, the first elastic return may be a tension spring, one end of which is fixed and the other end of which pushes the stopper 72 inside the empty egg tray entrance 61.

The empty egg tray transfer control assemblies are two groups, and the two groups of empty egg tray transfer control assemblies are arranged on two opposite sides of the full egg tray outlet 62.

Two sets of empty egg support transfer control assemblies block the empty egg support on the two opposite sides of the empty egg support, and prevent the blocked egg support from being inclined.

Example 9:

referring to fig. 14 and 16, further, the full egg tray transfer control assembly includes a baffle 81, a second rotating shaft 82, a second elastic reset element, and a rotating shaft limiting element;

one end of the baffle 81 is connected with the second rotating shaft 82, and the second rotating shaft 82 is connected with the rotating shaft limiting part, so that the baffle 81 can rotate relative to the outlet 62 of the full egg tray;

the rotating shaft is arranged at the outer side of the full egg tray outlet 62, and one end of the baffle 81, which is far away from the second rotating shaft 82, can extend towards the inner side of the full egg tray outlet 62 to partially cover the upper part of the full egg tray outlet 62;

the second elastic resetting piece presses one end of the baffle 81 far away from the second rotating shaft 82 to the full egg tray outlet 62;

two sets of rotating shaft limiting pieces are respectively arranged at two ends of the second rotating shaft 82, and the rotating shaft limiting pieces limit the second rotating shaft 82 to move towards the lifting direction of the lifting assembly;

the full egg tray transfer control assemblies are two groups, and the two groups of full egg tray transfer control assemblies are arranged on two opposite sides of the empty egg tray inlet 61.

The baffle 81 partially covers the upper part of the empty egg tray inlet 61, so that a full egg tray above the empty egg tray inlet 61 can be placed on the baffle 81 and cannot fall below the empty egg tray inlet 61, when the full egg tray on the egg tray supporting plate needs to be placed above the full egg tray outlet 62, the egg tray supporting plate moves to the position below the empty egg tray inlet 61 and then moves upwards under the pushing of the lifting assembly, the upper part of the full egg tray on the egg tray supporting plate is contacted with the lower part of the full egg baffle 81 and then continues to move upwards, as the second rotating shaft 82 is arranged at the outer side of the empty egg tray inlet 61, the second rotating shaft 82 cannot block the egg tray at the empty egg tray inlet 61 from moving, when the partial baffle 81 in the empty egg tray inlet 61 is pushed, the baffle 81 rotates by taking the second rotating shaft 82 as the center, the full egg tray on the egg tray moves towards the direction and is contacted with the lower part of the stacked full egg tray, so that the stacked egg tray supporting plate continues to move upwards together with the stacked egg tray supporting full egg tray supporting plate, as the egg tray supporting position is separated from the full egg tray supporting baffle 81, and finally, the full egg tray supporting baffle 81 is separated from the full egg tray supporting plate, and the full egg tray supporting baffle 81, and the full egg tray supporting plate on the egg tray supporting plate is separated from the full egg tray supporting plate, and the full egg tray supporting plate 81, and finally, the full egg tray supporting baffle plate, the full egg tray supporting plate 81 is separated from the full egg tray supporting baffle plate, and the full egg tray supporting plate 81.

The second elasticity resets and avoids baffle 81 to rotate to the one side of keeping away from into egg mouth under the promotion that full egg held in the palm, causes baffle 81's the effect that blocks to become invalid, also can make baffle 81 break away from the top that full egg held in the palm quick rotation to empty egg support entry 61 behind the egg in addition.

As shown in fig. 14, in some embodiments, the shaft limiter is a shaft sleeve 84, and the shaft sleeve 84 is fixedly connected to the outer side of the empty egg tray inlet 61, so that the baffle 81 can only rotate relative to the shaft sleeve 84.

Example 10:

referring to fig. 15 and 17, further, the rotation shaft limiting part includes a limiting gear 85 and a limiting rack 86;

the limit gear 85 is fixedly connected with the second rotating shaft 82, and the second rotating shaft 82 is fixedly connected with the baffle 81;

the length direction of the limiting rack 86 is perpendicular to the axis of the second rotating shaft 82, and the limiting gear 85 is meshed with the limiting rack 86;

still include spacing 87, spacing 87 set up in spacing 86 toothed one side, just spacing 87 with spacing 86 is parallel, just spacing gear 85 set up in spacing 86 with between the spacing 87, the outside of spacing gear 85 with spacing 87 contacts.

When the baffle 81 is pushed upwards by the full egg support, the baffle 81 rotates, the limiting gear 85 fixedly connected with the baffle 81 and the second rotating shaft 82 also rotates along with the baffle 81, the limiting gear 85 is meshed with the limiting rack 86, the limiting rack 86 is fixed, the limiting gear 85 rotates relative to the limiting rack 86 when the limiting gear 85 rotates, so that the baffle 81 moves on the limiting rack 86, the baffle 81 is pushed upwards by the full egg support, the limiting gear 85 moves towards the direction far away from the egg outlet, the rotation origin of the baffle 81 is gradually far away from the empty egg support inlet 61 in the gradually moving process, and the process of separating the baffle 81 from the full egg support is accelerated.

Compared with the mode that the shaft sleeve 84 is connected with the second rotating shaft 82, the limiting gear 85 and the limiting rack 86 are connected with the second rotating shaft 82, so that the lifting stroke of the lifting assembly to the stacked full egg trays can be shortened, the lifting time of the lifting assembly is shortened, and the lifting time of the stacked full egg trays is shortened. Or the baffle 81 is far away from one side of the second rotating shaft 82 to the second rotating shaft 82 on the same lifting stroke, so that the lifting blocking area of the baffle 81 on the full egg tray is larger, and the blocking on the full egg tray is more stable during blocking.

The limit bar 87 limits the limit gear 85 from always contacting the limit rack 86 and limits the second rotating shaft 82 from moving in the lifting direction of the lifting group.

The second rotating shaft 82 is disposed outside the empty egg tray inlet 61, and can provide a limit point for the baffle 81 to block the full egg tray, and the lower portion of the baffle 81 is overlapped outside the empty egg tray inlet 61 as a fulcrum to support the full egg tray through two-position limitation.

As shown in fig. 14, in some embodiments, the longitudinal ends of the baffles 81 further extend to the outer sides of the adjacent empty egg tray inlets 61, and the outer sides of the adjacent empty egg tray inlets 61 are overlapped to increase the force support of the baffles 81.

Example 11:

referring to fig. 15, further, the second elastic restoring member is a torsion spring 83, and the torsion spring 83 is disposed on the second rotating shaft 82 in a penetrating manner; and the number of the first and second electrodes,

one end torque arm of the torsion spring 83 is abutted to the surface of the baffle plate 81, and the other end torque arm of the torsion spring 83 is abutted to the outer side surface of the full egg tray outlet 62.

The torsional spring 83 pushes the baffle 81 to one side of the empty egg support inlet 61, the torque arm abutted against the outer side surface of the empty egg support inlet 61 provides a limiting supporting point for the baffle 81 to press, because the torsional spring 83 is arranged on the second rotating shaft 82 in a penetrating manner, when the second rotating shaft 82 drives the gear to rotate and moves towards the direction far away from the empty egg support inlet 61, the torsional spring 83 can move along with the second rotating shaft 82, and the torque arm abutted against the outer side surface of the empty egg support inlet 61 can also move on the outer side surface of the empty egg support inlet 61, so that the torsional spring 83 always presses the baffle 81 to the direction of the empty egg support inlet 61.

After the baffle 81 is kept away from the end of the second rotating shaft 82 and the full egg tray are separated, the torsion spring 83 drives the baffle 81 to rotate downwards, meanwhile, the gear moves on the rack, the baffle 81 is rapidly pressed to the empty egg tray inlet 61, and the full egg tray stacked above is blocked.

Example 12:

referring to fig. 11, further, the arrangement directions of the full egg tray transfer control assembly and the empty egg tray transfer control assembly are mutually crossed; and the number of the first and second electrodes,

the distance between the egg tray supporting plate and two side edges close to the empty egg tray transfer control assembly is equal to the distance between two side edges of the corresponding empty egg tray inlet 61;

the distance between two side edges of the egg tray supporting plate close to the full egg tray transfer control assembly is smaller than the distance between two side edges of the full egg tray outlet 62 on the corresponding side; and the distance between two adjacent sides is greater than the distance from one end of the baffle 81 in the blocking state far away from the second rotating shaft 82 to the side of the overlapped full egg tray outlet 62.

Because full egg holds in palm transfer control assembly and empty egg and holds in palm the transfer control assembly and become the trigger action difference that passes through the state by blocking the state, empty egg holds in the palm the transfer control assembly and needs the side that the egg held in the palm the layer board to push down control surface 722, and full egg holds in the palm transfer control assembly and needs full egg to hold in the palm full egg that stacks the top and hold in the palm and baffle 81 upwards to promote, hold in the palm the egg again with egg after crossing baffle 81 in full egg of the below and hold in the palm the layer board downstream, make the egg of bottommost hold in the palm and place on baffle 81.

Therefore, the length requirements of the full egg tray transfer control assembly and the empty egg tray transfer control assembly on the upper side edge of the egg tray supporting plate are different, and the stop block 72 can completely abut against the outer side of the full egg tray outlet 62 only when the side edge of the egg tray close to the empty egg tray transfer control assembly is close to the side edge of the tray opening of the full egg tray outlet 62, so that the stop block 72 is in a passing state. And hold in the palm egg to the egg that is close to full egg and holds in the palm the egg that shifts control assembly department and hold in the palm the side and then hold in the palm the baffle 81 by full egg and promote, hold in the palm after crossing baffle 81 full egg, the egg holds in the palm the layer board and descends and leave empty egg and hold in the palm entry 61, if the vertical projection face that the egg held in the palm the layer board this moment overlaps with baffle 81 mutually, then baffle 81 can hold in the palm the layer board to the egg and block, lead to the egg to hold in the palm the layer board and can not remove, so will be close to full egg and hold in the palm the egg of one side of control assembly and receive the weak point, can follow empty egg when making the egg hold in the palm the layer board and go out of entry 61, and full egg holds in the palm and is blockked.

The arrangement directions of the full egg tray transfer control assembly and the empty egg tray transfer control assembly are mutually crossed, the corresponding side edges on the egg tray supporting plate are also mutually crossed and not repeated, and the egg tray transfer control assembly is controlled by independently setting the length of the side edge of the egg tray supporting plate in each direction.

Example 13:

referring to fig. 9 and 10, further, the egg tray device further comprises a position-limiting surrounding rod 88, wherein the position-limiting surrounding rod 88 extends from the empty egg tray inlet 61 and the full egg tray outlet 62 to one side where the egg tray is placed;

wherein, four piece at least spacing poles 88 are a set of, and every group spacing pole 88 that encloses sets up respectively in empty egg holds in the palm entry 61 and full egg holds in the palm four directions of export 62, spacing pole 88 that encloses limits the egg and holds in the palm the vertical projection face outside removal to empty egg holds in the palm entry 61.

Empty egg holds in palm entry 61 and the egg that piles up on the full egg holds in the palm export 62 holds in the palm, if the egg that piles up holds in the palm a lot more, corresponding egg holds in the palm to pile up and increases, holds in the palm or puts into full egg and can hold in the palm the egg when holding in the palm and rock easily getting empty, appears piling up crooked in vertical direction, appears falling down of egg support heap even, causes the loss.

The limiting surrounding rod 88 is arranged at the outer sides of the full egg tray outlet 62 and the empty egg tray inlet 61, so that the egg tray can only vertically move above the empty egg tray inlet 61 and the full egg tray outlet 62, and cannot be deviated to the outer sides of the empty egg tray inlet 61 and the full egg tray outlet 62.

In some embodiments, the full egg tray transfer control assembly and the position-limiting surrounding rod 88 outside the empty egg tray entrance 61 of the full egg tray transfer control assembly interfere with each other, and the starting point of the interfered position-limiting surrounding rod 88 can be raised and fixedly connected with the adjacent connecting rod through the transverse connecting rod, as shown in fig. 9.

In some embodiments, one of the position-limiting surrounding rods 88 can be configured to rotate, and when the egg tray needs to be put in or taken out, the position-limiting surrounding rod 88 which can rotate is put down to facilitate taking out the stacked egg trays from the side. When the egg tray is transferred, the rotating limiting surrounding rod 88 is lifted to limit the stacked egg trays.

In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "inner", "outer", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, only for the purpose of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Where "interior" refers to an interior or enclosed area or space. "periphery" refers to an area around a particular component or a particular area.

In the description of the embodiments of the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include one or more of the features. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "assembled" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the embodiments of the invention, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

In the description of the embodiments of the present invention, it should be understood that "-" and "-" indicate the same range as two numerical values, and the range includes the endpoints. For example, "A-B" means a range greater than or equal to A and less than or equal to B. "A to B" means a range of A or more and B or less.

In the description of the embodiments of the present invention, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an automatic egg device of picking up in chicken coop which characterized in that includes:

wherein, pick up egg manipulator and snatch the within range and still be provided with unqualified egg and place the district.

2. The automatic egg picking device in a henhouse according to claim 1, wherein:

the grabbing claw comprises a negative pressure sucker, the negative pressure sucker is connected with a negative pressure driving assembly, and the negative pressure sucker has a negative pressure adsorption state and a non-negative pressure separation state;

3. The automatic egg picking device in a henhouse according to claim 1, wherein:

a plurality of conveyor belts are arranged in the vertical direction of the coop;

the egg tray supporting plate and the egg picking manipulator are arranged on the cross beam;

4. The automatic egg picking device in a henhouse according to claim 3, wherein:

the egg holds in the palm the layer board bottom and is provided with lifting unit, lifting unit drives the egg holds in the palm the layer board and goes up and down, the controller control lifting unit lifting or descending.

5. The automatic egg picking device in a henhouse according to claim 3, wherein:

and the cross beam is provided with a conveyor belt driving motor, and the conveyor belt driving motor is in power connection with the conveyor belt through a magnetic coupling.

6. The automatic egg picking device in a henhouse according to claim 4, wherein:

the egg support plate is in sliding fit with the cross beam, a rack is arranged in the length direction of the cross beam, a moving motor is arranged on the egg support plate, a gear is connected to the rotating shaft end of the moving motor, and the gear is meshed with the rack.

7. The automatic egg picking device in a henhouse of claim 6, wherein:

the egg tray supporting plate is arranged on one side, connected with the egg tray, of the cross beam;

the egg picking manipulator is arranged on the side close to the egg picking manipulator, and the egg picking manipulator is arranged on the side far away from the egg picking manipulator;

8. The automatic egg picking device in a henhouse according to claim 1, wherein:

the empty egg tray transfer control assembly comprises a first rotating shaft, a stop block and a first elastic resetting piece;

the empty egg tray transfer control assemblies are arranged in two groups, and the two groups of empty egg tray transfer control assemblies are arranged on two opposite sides of an empty egg tray inlet.

9. The automatic egg picking device in a henhouse of claim 8, wherein:

the full egg tray transfer control assembly comprises a baffle, a second rotating shaft, a second elastic reset piece and a rotating shaft limiting piece;

the rotating shaft is arranged at the outer side of the full egg tray outlet, and one end of the baffle, which is far away from the second rotating shaft, can extend towards the inner side of the full egg tray outlet to partially cover the upper part of the full egg tray outlet;

the second elastic resetting piece presses one end, far away from the second rotating shaft, of the baffle plate to the outlet of the full egg tray;

10. The automatic egg picking device in a henhouse of claim 9, wherein:

the rotating shaft limiting part comprises a limiting gear and a limiting rack;

the length direction of the limiting rack is perpendicular to the axis of the second rotating shaft, and the limiting gear is meshed with the limiting rack;

11. The automatic egg picking device in a henhouse according to claim 9 or 10, wherein:

the second elastic reset piece is a torsion spring which is arranged on the second rotating shaft in a penetrating way; and the number of the first and second electrodes,

one end torque arm of the torsion spring is abutted with the surface of the baffle, and the other end torque arm of the torsion spring is abutted with the outer side surface of the outlet of the full egg tray.

12. The automatic egg picking device in a henhouse of claim 9, wherein:

the arrangement directions of the full egg tray transfer control assembly and the empty egg tray transfer control assembly are mutually crossed; and the number of the first and second electrodes,

the distance between the egg tray supporting plate and two side edges of the empty egg tray transfer control assembly is equal to the distance between two side edges of the corresponding empty egg tray inlet;

the distance between two side edges of the egg tray supporting plate close to the full egg tray transfer control assembly is smaller than the distance between two side edges of a full egg tray outlet on the corresponding side; and the distance between two adjacent side edges is larger than the distance from one end of the baffle in a blocking state, which is far away from the second rotating shaft, to the side edge of the outlet of the lapped full egg tray.

13. The automatic egg picking device in a henhouse of claim 7, wherein:

the egg tray placing device also comprises a limiting enclosing rod, wherein the limiting enclosing rod extends to one side for placing the egg tray from an empty egg tray inlet and a full egg tray outlet;

wherein, four piece at least spacing surrounding rods are a set of, and every spacing surrounding rod of group set up respectively in empty egg holds in the palm the entry and full egg holds in the palm four directions of export, spacing surrounding rod restriction egg holds in the palm to empty egg holds in the palm the vertical projection plane outside of entry and removes.