CN115191373B

CN115191373B - Automatic egg picking device in chicken coop

Info

Publication number: CN115191373B
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: 2024-01-12
Anticipated expiration: 2042-05-25
Also published as: CN115191373A

Abstract

The invention relates to the technical field of industrial production of eggs, in particular to an automatic egg picking device in a chicken house. Automatic egg device of picking up in chicken coop includes: the egg picking device comprises a conveyor belt, an egg picking manipulator, an egg supporting plate, a controller and an image acquisition assembly; the conveyor belt is arranged below each row of chicken houses, and is used for collecting and conveying eggs; the egg supporting plate is arranged on one side of the egg outlet end of the conveyor belt, and an egg taking area is arranged at the position close to the egg outlet end; an egg tray can be placed on the egg tray supporting plate; the egg picking manipulator comprises a mechanical arm and a grabbing claw, wherein the mechanical arm drives the grabbing claw to move between an egg taking area and an egg supporting 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 chicken coop, so that the labor intensity of workers is remarkably reduced, the long-distance conveying process of eggs is reduced, and the pollution to the eggs in the egg conveying process is avoided.

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 chicken house.

Background

Eggs are an indispensable food material in life, and a consumer's purchase list occupies a position which is not free from eye lifting but is indispensable, so that a large number of eggs are transported from a chicken farm to the market for selection by the consumer every day. Whether or not eggs are fresh and non-contaminated is a basic criterion for consumers to judge the quality of eggs.

For chicken farms where eggs are laid, it is an essential link in the chicken farm to collect a large number of fresh eggs daily, remove the contaminated and damaged eggs, and then load and send the eggs to the point of sale.

At present, the egg picking mode of the chicken farm mainly comprises two modes of manually picking eggs and sorting after egg collection in an egg warehouse. The manual egg picking mode requires that a worker pushes the trolley at regular time to pick eggs below the chicken coops one by one into the trolley, so that the manual labor intensity is high, and the demands of the egg picking personnel can be increased along with the increase of the number of the chickens.

The egg warehouse is characterized in that a conveyor belt is arranged below each row of chicken cages, an egg collecting conveyor line and an egg collecting elevator are arranged at the outlet of the conveyor belt, eggs laid by each row of chicken are collected, and then the eggs are sent to the egg warehouse for mechanical sorting in the egg warehouse. The egg picking efficiency of this kind of mode of picking up is higher, and the cost of labor is low, but the transmission distance of egg is long, and the egg appears rolling easily when through album egg transfer chain, album egg elevator and mechanical sorting's in-process, can increase the probability that the egg was polluted to the equipment purchase of whole system needs to spend the cost of millions of yuan.

Disclosure of Invention

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

an automatic egg picking device in a chicken house, comprising:

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

the conveyor belt is arranged below each row of chicken houses, and is used for collecting and conveying eggs;

the egg supporting plate is arranged on one side of the egg outlet end of the conveyor belt, and an egg taking area is arranged at the position close to the egg outlet end; an egg tray can be placed on the egg tray supporting plate;

the egg picking manipulator comprises a mechanical arm and a grabbing claw, wherein the mechanical arm drives the grabbing claw to move between an egg taking area and an egg supporting 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 supporting plate and transmits the images to the controller;

the controller receives the image acquired by the image acquisition component and controls the movement of the conveyor belt and the egg picking manipulator;

wherein, still be provided with disqualified egg in picking up egg manipulator snatchs the within range and places 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 simultaneously exhibited.

Further, a plurality of conveyor belts are arranged in the vertical direction of the chicken coops;

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

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

the driving assembly drives the cross beam to move in the length direction of the upright post and correspond to the conveyor belt;

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

Further, the bottom of the egg tray supporting plate is provided with a lifting assembly, the lifting assembly drives the egg tray supporting plate to lift, and the controller controls the lifting assembly to lift or descend.

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

Further, the egg support supporting 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 supporting plate, the rotating shaft end of the moving motor is connected with a gear, and the gear is meshed with the rack.

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

the supporting plate and the cross beam are separated by a certain distance, so that a moving space is provided for the egg tray supporting plate;

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

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

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

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

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

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

wherein the stop block is rotationally 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 supporting plate;

wherein the cross section of the stop block in the axial direction of the first rotating shaft is fan-shaped; the stop block extends in a fan shape to one end where the empty egg tray is placed;

the stop block is provided with a limiting surface and a control surface, the limiting surface faces one end for placing 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 in contact 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 limiting block is arranged at one end of the stop block opposite to the control surface, and the limiting block is abutted to the empty egg tray inlet so as to limit the stop block to excessively rotate;

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 the empty egg tray inlet.

Further, 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 piece, 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 full egg tray outlet, one end of the baffle plate, which is far away from the second rotating shaft, can extend towards the inner side of the full egg tray outlet, and the upper part of the full egg tray outlet is partially covered;

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

the two groups of rotating shaft limiting parts are respectively arranged at two ends of the second rotating shaft, and the rotating shaft limiting parts limit the second rotating shaft 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.

Further, the rotating shaft limiting piece 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;

still include spacing, spacing set up in spacing toothed one side, just spacing with spacing rack is parallel, just spacing gear set up in spacing rack with between the spacing, spacing gear's the outside with spacing contact.

Further, the second elastic reset piece is a torsion spring, and the torsion spring is arranged on the second rotating shaft in a penetrating manner; and, in addition, the method comprises the steps of,

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

Further, the setting directions of the full egg tray transfer control assembly and the empty egg tray transfer control assembly are mutually crossed; and, in addition, the method comprises the steps of,

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

the distance between the two sides of the egg tray supporting plate, which is close to the full egg tray transfer control assembly, is smaller than the distance between the two sides of the 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 plate in a blocking state, which is far away from the second rotating shaft, to the overlapped side edge of the outlet of the full egg tray.

Further, the egg tray comprises a limiting enclosing rod which extends from an empty egg tray inlet and a full egg tray outlet to one side where the egg tray is placed;

the limiting surrounding rods are arranged in a group, each group of limiting surrounding rods is arranged in the four directions of the empty egg tray inlet and the full egg tray outlet respectively, and the limiting surrounding rods limit the egg tray to move to the outer side of the vertical projection surface of the empty egg tray inlet.

The beneficial effects of the invention are as follows:

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

Eggs can be classified by transferring the eggs through the egg picking mechanical arm, damaged or polluted eggs are separated from complete and clean eggs, the eggs meeting the requirements are placed in an egg tray, and the eggs can be transported and sold after egg holes in the egg tray are filled.

Drawings

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

fig. 2 is a schematic structural view of an automatic egg picking device in a chicken house according to the present invention;

FIG. 3 is a schematic view of an image acquisition assembly according to the present invention;

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

fig. 5 is a schematic diagram of connection between an egg tray support plate and a cross beam provided by the invention;

FIG. 6 is a schematic view illustrating the installation of a lifting assembly according to the present invention;

FIG. 7 is a schematic diagram of egg placement according to the present invention;

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

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 provided by the present invention;

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

FIG. 13 is a schematic view of a process for removing empty egg trays provided by the present invention;

FIG. 14 is a schematic view showing the connection of the baffle when the shaft limiter provided by the present invention is a shaft sleeve;

FIG. 15 is a diagram showing the connection of the baffle plate when the rotation shaft limiter is a limiting gear and a limiting rack;

FIG. 16 is a schematic view of a process for placing a full egg tray when the shaft limiter provided by the invention is a shaft sleeve;

fig. 17 is a schematic diagram of a process of placing a full egg tray when the rotation shaft limiter provided by the invention is used for limiting the gear and the rack.

Reference numerals:

conveyor 1, egg-out end 11;

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

an image acquisition component 4;

column 51, drive assembly 511, cross beam 52, belt drive motor 53, magnetic coupling 54, rack 55;

a supporting 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 reset piece 73;

baffle 81, second rotating shaft 82, torsion spring 83, shaft sleeve 84, limit gear 85, limit rack 86, limit bar 87, limit enclosing rod 88;

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

Detailed Description

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

Example 1:

referring to fig. 1-17, the embodiment provides an automatic egg picking device in a chicken house, which comprises: the egg picking device comprises a conveyor belt 1, an egg picking manipulator 2, an egg supporting plate 3, a controller and an image acquisition assembly;

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

Wherein the egg supporting plate 3 is arranged on one side of the egg outlet end 11 of the conveyor belt 1, and an egg taking area 31 is arranged near the egg outlet end 11; egg trays 9 can be placed on the egg tray supporting plates 3;

the egg outlet end 11 in this embodiment is the end of the conveyor belt 1 that is used for discharging eggs when the conveyor belt 1 rotates, the egg tray 9 is a paper pulp egg tray or a plastic egg tray commonly used in the market, a plurality of egg holes 91 for placing eggs are formed in one egg tray 9, and the eggs are individually placed in the egg holes 91 for convenient transportation and storage. The egg tray supporting plate 3 provides a place for placing the egg trays 9, the egg trays are positioned in the working range of the egg picking manipulator 2 when being placed above the supporting plate, and the egg picking manipulator 2 can place eggs 92 in the egg holes 91 one by one.

The egg taking area 31 is a place where the egg picking manipulator 2 picks up the eggs 92, the surface of the conveyor belt 1 at the egg picking end 11 can be selected as the egg taking area 31, or a plate connected with the egg picking end 11 as shown in fig. 2 can be used as the egg taking area 31, the eggs roll from the egg picking end 11 into the egg taking area 31, and the egg picking manipulator 2 picks up the eggs.

The egg picking manipulator 2 comprises a mechanical arm 21 and a grabbing claw 22, wherein the mechanical arm 21 drives the grabbing claw 22 to move between an egg taking area 31 and an egg supporting 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, as a preferred embodiment, the mechanical arm 21 may be configured as a two-stage arm, the two joint motors drive the two joint motors to provide a combination of the positions of the gripping claws 22 in the travel range, the mechanical arm 21 may extend in the horizontal direction, the supporting point of the mechanical arm 21 may be driven by a lifting motor, so that the lifting arm may be lifted in the vertical direction, and the gripped eggs are lifted and then placed in the egg tray. Of course, the selection of the robot arm 21 is not limited to the above-described preferred embodiment, and the robot arm 21 extending in the vertical direction or the robot arm 21 moving crosswise in the lateral and longitudinal directions may be used to grasp eggs in this embodiment.

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

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

the controller receives the image acquired by the image acquisition component and controls the movement of the conveyor belt 1 and the egg picking manipulator 2;

The image collected by the image collecting assembly provides a position for grabbing and placing eggs for the egg picking manipulator 2, the conveyor belt 1 stops moving or slowly moves when more eggs are in the egg taking area 31, and the conveyor belt 1 moves to convey eggs to the egg taking area 31 when fewer eggs are in the egg taking area 31. The controller can also detect the quality (surface integrity and cleanliness) of the eggs according to the acquired images, and reject unqualified eggs directly.

Wherein, a disqualified egg placing area 32 is also arranged in the grabbing range of the egg picking manipulator 2. The egg picking manipulator 2 picks up the unqualified eggs and then places the unqualified eggs in the unqualified egg placing area.

Example 2:

referring to fig. 4, further, the gripper 22 includes a suction cup 221, the suction cup 221 is connected to a suction driving unit 511, and the suction cup 221 has a suction state and a non-suction release state;

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

The negative pressure sucker 221 adsorbs the egg under negative pressure after contacting with the egg, then through the rotation of arm 21, drives the egg and moves to egg support top, aligns the back in vertical direction with the egg hole 91 of egg support with the egg, breaks off the negative pressure state, makes the egg break away from the negative pressure sucker 221, falls into egg hole 91. Compared with the clamping type grabbing claws 22, the negative pressure sucker 221 is simpler and more convenient to grab eggs, only needs to be aligned with the upper parts of the eggs, and the eggs are not easy to be clamped.

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

Example 3:

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

the automatic egg picking device in the chicken house further comprises a lifting mechanism, wherein the lifting mechanism comprises a stand column 51 and a cross beam 52, and the cross beam 52 is vertically crossed with the stand column 51; and, the crossbeam 52 is in sliding fit with the upright post 51;

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

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

the egg taking area 31 and the unqualified egg placing area 32 are arranged on the cross beam 52, and are driven to move by the cross beam 52.

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

If the egg picking manipulator 2 and the egg picking supporting plate 3 are arranged on one side of each row of the conveyor belt 1, the purchase cost of the egg picking device can be multiplied, in this embodiment, the egg picking supporting plate 3 and the cross beam 52 are arranged on the cross beam 52, the upright posts 51 are installed on the ground of one end of the chicken coops 93, when the driving component 511 drives the cross beam 52 to move along the length of the upright posts 51, the egg picking supporting plate 3 and the egg picking manipulator 2 can be butted with the conveyor belt 1 of each layer, and when the butted conveyor belt 1 rotates, the egg picking manipulator 2 picks eggs on the conveyor belt 1 into egg holders one by one. So many conveyer belts 1 on same vertical face only need set up a set of egg picking manipulator 2 and egg support layer board 3 can.

Preferably, the sliding fit between the cross beam 52 and the upright post 51 can be realized by arranging a sliding rail on the upright post 51, arranging a sliding block on the cross beam 52, and mutually buckling the structure between the sliding rail and the sliding block.

The driving assembly 511 may 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 mode of matching the screw with the threaded hole can be adopted, the screw is arranged along the length direction of the upright post 51, the threaded hole matched with the screw is arranged on the cross beam 52, and the screw is driven by the driving motor to rotate so as to drive the cross beam 52 to lift.

Preferably, for the arrangement mode of the chicken coops 93 with collecting grooves on two sides of the chicken coops 93, the conveyor belts 1 can be arranged on two sides of the chicken coops, and a group of egg picking manipulators 2 and egg supporting plates 3 are respectively arranged on two ends of the cross beam 52, and eggs on the conveyor belts 1 on two 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 descend.

The egg tray supporting plate 3 can drive the egg trays supported 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 eggs can be lowered by one egg tray height through the lowering and lifting assembly 33, then an empty egg tray can be placed above the filled egg trays again, the empty egg trays are filled with eggs again, and after a certain number of egg trays are filled with eggs, the egg trays filled with eggs are transferred to the storage area together. Only the staff is required 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 with a driving motor or a lifting pushing rod, the other end of the scissor-type lifting structure is connected with the bottom of the egg supporting plate 3, and the lifting or lowering of the scissor-type lifting structure is controlled by the driving motor or the lifting pushing rod, so that the structure has a larger expansion ratio. Of course, the egg tray 3 can be driven to move by matching the screw holes and the screws arranged on the egg tray 3 in the moving direction.

Example 5:

referring to fig. 1 and 2, further, a conveyor belt driving motor 53 is provided on the cross member 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 acts as a non-contact drive connection, one end of which is connected to the output of the belt drive motor 53 and the other end of which is connected to the driven shaft, which in this example is the shaft that drives the belt to rotate.

When the beam 52 moves to correspond to one conveyor belt, one end magnetic coupler 54 on the conveyor belt driving motor 53 is aligned with the magnetic coupler 54 on the conveyor belt, and the conveyor belt driving motor 53 drives the conveyor belt to rotate when rotating. When the cross member 52 moves again to correspond to another conveyor, the conveyor driving motor 53 again moves the other conveyor. Therefore, each conveyor belt in the vertical direction can be driven to move in a time-sharing manner by adopting one conveyor belt driving motor 53, and the installation cost of the conveyor belt is reduced.

Example 6:

referring to fig. 5, further, the egg tray supporting plate 3 is slidably matched with the cross beam 52, a rack 55 is arranged in the length direction of the cross beam 52, the moving motor 34 is arranged on the egg tray supporting plate 3, 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 the moving motor 34, the egg tray supporting plate 3 can be driven to move on the cross beam 52, particularly eggs are filled in egg trays, the egg picking manipulator 2 is arranged above the egg tray supporting plate 3, when the egg tray supporting plate 3 is inconvenient to take out, the moving motor 34 can be used for controlling the egg tray supporting plate 3 to move on the cross beam 52 to the middle part of the cross beam 52 without shielding, and the egg trays filled with eggs are convenient for workers to take out the egg trays filled with eggs at one time.

Example 7:

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

wherein, a certain distance is reserved between the supporting plate 6 and the cross beam, so as 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;

wherein 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, empty egg trays can be moved from the empty egg tray inlet 61 to the egg tray supporting plate, and full egg trays can be moved 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 assembly, and the full egg tray outlet 62 is provided with a full egg tray control assembly;

In this embodiment, an empty egg tray inlet 61 and a full egg tray outlet 62 are provided above the moving direction of the egg tray pallet, empty egg trays waiting for being palletized can be stacked above the empty egg tray inlet 61, and full egg trays having been palletized can be stacked above the full egg tray outlet 62.

The empty egg tray control movement control assembly is used for controlling the empty egg tray to fall onto the egg tray from above the empty egg tray inlet 61 through the empty egg tray inlet 61, and the full egg tray movement control assembly is used for controlling the full egg tray to stay above the full egg tray outlet 62 after passing through the full egg tray outlet 62 from the egg tray.

Specifically, when the egg is palletized, the egg tray support plate is moved to the upper side of the Kong Dantuo inlet, the empty egg tray movement control assembly is changed from the blocking state to the passing state, one empty egg tray at the bottommost part of the stacked empty egg trays is dropped onto the egg tray support plate, the empty egg tray movement control assembly is changed from the passing state to the blocking state again, the empty egg tray above the empty egg tray dropped onto the egg tray support plate is prevented from dropping, and then the egg tray support plate is lowered to the egg loading area of the egg picking manipulator for egg loading.

After the eggs in the egg holes 91 on the empty egg trays are filled, the egg tray is moved to the lower part of the full egg tray outlet 62, the full egg trays on the egg tray trays are moved upwards to be in contact with the bottoms of the egg trays stacked above the full egg tray outlet 62, then the full egg tray transfer control assembly is changed from the blocking state to the passing state, the egg trays continue to move upwards, the egg trays contacted with the egg tray trays are moved to the upper part of the full egg tray movement control assembly, the full egg trays are changed to the blocking state again to block the stacked full egg trays, and the full egg trays are placed to fall downwards. Then the egg tray supporting plate moves to the empty egg tray inlet 61 again to receive a new empty egg tray for loading eggs, the transferring process of the egg tray does not need the participation of staff, and the staff only needs to put the stacked empty egg tray above the empty egg tray inlet 61 and take out the stacked full egg tray from above the full egg tray outlet 62.

In some embodiments, the empty egg tray transfer control assembly and the full egg tray transfer control assembly both employ a transverse pin that 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 being controlled to move by a controllable electric push rod or a telescopic cylinder, being in a blocking state when the transverse pin enters, and being in a passing state when the transverse pin exits.

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;

wherein, the stop block 72 is rotationally 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 supporting plate;

wherein, the 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 where the empty egg tray is placed;

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

Wherein, the first elastic restoring member 73 pushes the stopper 72 to the inner side of the empty egg tray inlet 61, a stopper 723 is disposed at an end of the stopper 72 opposite to the control surface 722, and the stopper 723 abuts against the empty egg tray inlet 61 to limit the excessive rotation of the stopper 72;

the empty tray transfer control assemblies are in two groups, and the two groups of empty tray transfer control assemblies are arranged on opposite sides of the empty 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 on the support plate 6, and the outer side of the hollow egg tray inlet 61 is within the range other than the vertical direction of the hollow egg tray inlet 61, as is the case with the full egg tray outlet 62.

In this embodiment, the stop face 721 of the stop block 72 can block the empty egg tray to prevent Kong Dantuo from falling below the full egg tray outlet 62. When the lifting assembly drives the full egg tray outlet 62 on the egg tray supporting plate to move, one side of the egg tray supporting plate, which is contacted with the control surface 722, and in the gradual uploading process of the egg tray supporting plate, the side edge of the egg tray supporting plate extrudes the control surface 722 extending into the inner side of the full egg tray outlet 62, so that the stop block 72 gradually rotates to the outside of the full egg tray outlet 62, the limit surface 721 also rotates to the outside of the full egg tray outlet 62, and the blocking to Kong Dantuo is released, so that the empty egg tray falls onto the egg tray supporting plate. After the empty egg tray falls onto the egg tray supporting plate, the lifting assembly drives the egg tray supporting plate to move downwards, the edge of the egg tray supporting plate releases the extrusion of the control surface 722, the stop block 72 rotates to the inner side of the full egg tray outlet 62, the empty egg tray above the empty egg tray falling onto the egg tray supporting plate is blocked, the empty egg tray falling onto the egg tray supporting plate in the continuous descending process moves along with the egg tray supporting plate, the rest of the empty egg trays are kept above the full egg tray outlet 62, and only one empty egg tray is taken at a time.

The distance from the limiting surface 721 to the axis of the first rotating shaft 71 is smaller than the thickness of the egg tray, and when the empty egg tray descends downwards to release the extrusion of the control surface 722, the stop block 72 can rotate below the upper empty egg tray.

The stop surface 721 of the fan-shaped stop block 72 is an arc-shaped surface, and when the empty egg tray descends downwards to release the extrusion of the control surface 722, the arc-shaped stop surface 721 more easily enters the lower part of the last empty egg tray and supports the empty egg tray.

The first elastic restoring member 73 pushes the stopper 72 toward the inner side of the full-egg tray outlet 62, and a stopper 723 is disposed at an end of the stopper 72 opposite to the control surface 722, and the stopper 723 abuts against the full-egg tray outlet 62 to limit excessive rotation of the stopper 72.

The first elastic reset member 73 is extruded and contracted when the egg tray supporting plate moves upwards to extrude the control surface 722, and resets towards the inner side of the full egg tray outlet 62 when the egg tray supporting plate releases to extrude the control surface 722, so that the limiting surface 721 enters the egg tray supporting plate to rapidly limit the last empty egg tray, and the falling of the empty egg tray is avoided.

In some preferred embodiments, the first elastic restoring member 73 may be a torsion spring, where one end of the torsion spring is fixed to the first rotating shaft 71 and the other end abuts against the stop 72, so as to push the stop 72 to the inner side of the egg tray outlet 62, as shown in fig. 12. In other embodiments, the first elastic return may be a tension spring with one end secured and the other end pushing the stop 72 inside the empty egg tray inlet 61.

The empty tray transfer control assemblies are in two groups and the two groups of empty tray transfer control assemblies are disposed on opposite sides of the full tray outlet 62.

The two groups of empty egg tray transfer control assemblies block the empty egg trays on two opposite sides of the empty egg tray, so that the blocked egg trays are prevented from being skewed.

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 member and a rotating shaft limiting member;

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 piece, so that the baffle 81 can rotate relative to the full egg supporting outlet 62;

the rotating shaft is arranged at the outer side of the full egg tray outlet 62, and one end of the baffle 81 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 side of the full egg tray outlet 62;

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

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

The full egg tray transfer control assemblies are in two groups, and the two groups of full egg tray transfer control assemblies are arranged on 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 is placed on the baffle 81 and cannot fall below the empty egg tray inlet 61, and when the full egg tray on the egg tray support plate needs to be placed above the full egg tray outlet 62, the egg tray support plate moves 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 support plate continuously moves upwards after being contacted with the lower part of the full egg baffle 81, and as the second rotating shaft 82 is arranged outside the empty egg tray inlet 61, the second rotating shaft 82 cannot block the movement of the egg tray at the empty egg tray inlet 61, and when part of the baffle 81 in the empty egg tray inlet 61 is pushed, the baffle 81 rotates around the second rotating shaft 82, the full egg tray on the egg tray supporting plate is enabled to continuously move in opposite directions to be in contact with the lower part of the stacked full egg tray, so that the stacked full egg tray is pushed upwards together, when the full egg tray on the egg tray supporting plate continuously moves due to the fact that the rotating shaft limiting part limits the rotating shaft to move towards the lifting direction of the lifting assembly, one end, far away from the second rotating shaft 82, of the baffle plate 81 continuously and finally breaks away from contact with the full egg tray, rotates and falls down to continuously cover the empty egg tray inlet 61, then the egg tray supporting plate descends again, the bottom of the full egg tray is enabled to be in contact with the upper part of the baffle plate 81, the baffle plate 81 supports the stacked full egg tray, and the egg tray supporting plate moves to the full egg tray outlet 6211 again to receive a new empty egg tray.

The second elastic reset piece prevents the baffle 81 from rotating to one side far away from the egg inlet under the pushing of the full egg tray, so that the blocking effect of the baffle 81 is invalid, and in addition, the baffle 81 can be quickly rotated to the upper part of the empty egg tray inlet 61 after being separated from the full egg tray.

As shown in fig. 14, in some embodiments, the rotation limiting member 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 limiter includes a limiting gear 85 and a limiting rack 86;

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

wherein, the length direction of the limit rack 86 is perpendicular to the axis of the second rotating shaft 82, and the limit gear 85 is meshed with the limit 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 contact.

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

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

The limiting bar 87 limits the limiting gear 85 to be always in contact with the limiting rack 86, and limits the movement of the second rotating shaft 82 in the lifting direction of the lifting group price.

The second rotating shaft 82 is disposed at the outer side of the empty egg tray inlet 61, and can provide a limiting point for blocking the full egg tray by the baffle 81, and the lower portion of the baffle 81 is overlapped at the outer side of the empty egg tray inlet 61 as a supporting point, so that the full egg tray is supported by the limitation of two positions.

As shown in fig. 14, in some embodiments, the lengthwise ends of the baffles 81 also extend outside of adjacent empty tray inlets 61, overlapping the outside of adjacent empty tray inlets 61 to increase the force bearing 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, in addition, the method comprises the steps of,

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

The torsion spring 83 pushes the baffle 81 to the side of the empty egg tray inlet 61, and the torsion arm abutted against the outer side surface of the empty egg tray inlet 61 provides a limited supporting point for the baffle pressing plate 81, because the torsion 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 move in a direction away from the empty egg tray inlet 61, the torsion spring 83 moves along with the second rotating shaft 82, and the torsion arm abutted against the outer side surface of the empty egg tray inlet 61 also moves on the outer side surface of the empty egg tray inlet 61, so that the torsion spring 83 always presses the baffle 81 to the direction of the empty egg tray inlet 61.

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

Example 12:

referring to fig. 11, further, the setting directions of the full egg tray transfer control assembly and the empty egg tray transfer control assembly are crossed with each other; and, in addition, the method comprises the steps of,

the distance between the egg tray supporting plates and the two sides of the empty egg tray transfer control assembly is equal to the distance between the two sides of the empty egg tray inlet 61 on the corresponding side;

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

Because the trigger actions of the full egg tray transfer control assembly and the empty egg tray transfer control assembly from the blocking state to the passing state are different, the side edge of the egg tray support plate required by the empty egg tray transfer control assembly presses down the control surface 722, the full egg tray transfer control assembly requires the full egg tray which is stacked above to push up the full egg tray and the baffle 81, and the egg tray support plate moves downwards after the lowest full egg tray passes over the baffle 81, so that the bottommost egg tray is placed on the baffle 81.

Therefore, the length requirements of the full egg tray transfer control assembly and the empty egg tray transfer control assembly are different from each other, and the stop block 72 can be completely abutted to 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 full egg tray outlet 62, so that the stop block 72 is in a passing state. The side edge of the egg tray close to the full egg tray transfer control assembly is pushed by the full egg tray, after the full egg tray passes over the baffle 81, the egg tray falls off the empty egg tray inlet 61, if the vertical projection surface of the egg tray is overlapped with the baffle 81, the baffle 81 can block the egg tray, so that the egg tray cannot move, the side edge of the egg tray close to the full egg tray transfer control assembly is shortened, the egg tray can be separated from the empty egg tray inlet 61 when falling, and the full egg tray is blocked.

The setting directions of the full egg tray transfer control assembly and the empty egg tray transfer control assembly are mutually crossed, and the corresponding side edges on the egg tray supporting plates are not mutually crossed and repeated, so that the egg tray transfer control assembly is controlled by independently setting the side edge lengths of the egg tray supporting plates in the directions.

Example 13:

referring to fig. 9 and 10, the egg tray further comprises a limit enclosing rod 88, wherein the limit enclosing 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 at least limit surrounding rods 88 are a set of, and every limit surrounding rod 88 of group set up in empty egg holds in the palm entry 61 respectively with full egg holds in the palm four directions of export 62, limit surrounding rod 88 limits the egg to hold in the palm the vertical projection face outside of entry 61 to empty egg.

The egg trays stacked on the empty egg tray inlet 61 and the full egg tray outlet 62 are stacked, if the number of stacked egg trays is large, the corresponding egg tray stack is increased, the egg tray pair is easy to shake when the empty egg tray is taken out or the full egg tray is put in, the stacked egg tray is inclined in the vertical direction, and even the stacked egg tray is inclined, so that loss is caused.

The stop collar 88 is disposed outside the full and empty tray inlets 62, 61 so that the tray can only move vertically above the empty and full tray inlets 61, 62 without being deflected to the outside of the empty and full tray inlets 61, 62.

In some embodiments, the limiting and surrounding rods 88 outside the empty tray inlet 61 of the full tray transfer control assembly interfere with the full tray transfer control assembly, and the starting point of the interfering limiting and surrounding rods 88 can be raised, and the limiting and surrounding rods are fixedly connected with the adjacent connecting rods through transverse connecting rods, as shown in fig. 9.

In some embodiments, one of the stop posts 88 may be rotatably positioned, and the stop post 88 may be rotated down to facilitate removal of stacked egg trays from the side when it is desired to place or remove egg trays. The rotating stop collar 88 is raised again during egg tray transfer to stop stacked egg trays.

In describing 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", "inside", "outside", etc. indicate orientations or positional relationships based on the drawings are merely for the purpose of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Wherein "inside" refers to an interior or enclosed area or space. "peripheral" refers to the area surrounding a particular component or region.

In the description of embodiments of the present invention, the terms "first," "second," "third," "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, a feature defining "a first", "a second", "a third" and a fourth "may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In describing embodiments of the present invention, it should be noted that the terms "mounted," "connected," and "assembled" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, unless otherwise specifically indicated and defined; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the description of embodiments of the invention, a particular feature, structure, material, or characteristic may be combined in any suitable manner in one or more embodiments or examples.

In the description of the embodiments of the present invention, it is to be understood that "-" and "-" denote the same ranges of the two values, and the ranges include the endpoints. For example, "A-B" means a range greater than or equal to A and less than or equal to B. "A-B" means a range of greater than or equal to A and less than or equal to B.

In the description of embodiments of the present invention, the term "and/or" is merely an association relationship describing an association object, meaning that three relationships may exist, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein 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. Automatic egg device is picked up in chicken coop, its characterized in that includes:

wherein, a disqualified egg placing area is also arranged in the grabbing range of the egg picking manipulator;

the weighing sensor can weigh eggs grabbed each time, so that the eggs are classified in terms of weight, and the weight of the eggs in the egg holder is uniform;

the image acquisition assembly is used for acquiring images of the eggs, and providing positions for grabbing and placing the eggs for the egg picking manipulator; and controlling the conveyor belt to stop moving or slowly moving when more eggs are in the egg taking area, and controlling the conveyor belt to convey the eggs to the egg taking area when fewer eggs are in the egg taking area;

the egg tray support device comprises a cross beam, a support plate and a plurality of egg tray support plates, wherein the cross beam is connected with the support plate;

The egg picking device comprises an egg picking manipulator, an egg tray inlet, an egg tray outlet, an egg tray opening, a tray opening and a tray opening, wherein the egg tray inlet is arranged at one side close to the egg picking manipulator, and the egg tray outlet is arranged at one side far away from the egg picking manipulator;

the empty egg tray inlet is provided with an empty egg tray transfer control assembly, and the full egg tray outlet is provided with a full egg tray transfer control assembly;

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

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;

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

the two groups of full egg tray transfer control components are arranged on two opposite sides of the empty egg tray inlet;

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;

2. The automatic egg picking device in chicken house according to claim 1, wherein:

The grabbing claw comprises a negative pressure sucker which 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 chicken house according to claim 1, wherein:

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

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

4. An automatic egg picking device in a chicken house according to claim 3, characterized in that:

the bottom of the egg tray supporting plate is provided with a lifting assembly, the lifting assembly drives the egg tray supporting plate to lift, and the controller controls the lifting assembly to lift or descend.

5. An automatic egg picking device in a chicken house according to claim 3, characterized in that:

The beam is provided with a conveyor belt driving motor which is in power connection with the conveyor belt through a magnetic coupling.

6. The automatic egg picking device in chicken house according to claim 4, wherein:

the egg tray 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 tray support plate, the rotating shaft end of the moving motor is connected with a gear, and the gear is meshed with the rack.

7. The automatic egg picking device in chicken house according to claim 1, wherein:

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

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

8. The automatic egg picking device in chicken house according to claim 1, wherein:

the second elastic reset piece is a torsion spring, and the torsion spring penetrates through the second rotating shaft; and one end torsion arm of the torsion spring is abutted with the surface of the baffle, and the other end torsion arm of the torsion spring is abutted with the outer side surface of the outlet of the egg tray.

9. The automatic in-house egg picking device of claim 8, wherein:

the setting directions of the full egg tray transfer control assembly and the empty egg tray transfer control assembly are mutually crossed; the distance between the egg tray supporting plates and the two sides of the empty egg tray transfer control assembly is equal to the distance between the two sides of the empty egg tray inlet on the corresponding side;

10. The automatic egg picking device in chicken house according to claim 1, wherein:

the limiting enclosing rod extends from the empty egg tray inlet and the full egg tray outlet to one side where the egg tray is placed;