CN218587958U

CN218587958U - Automatic egg loading equipment at tail end of chicken cage

Info

Publication number: CN218587958U
Application number: CN202221279281.5U
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: 2023-03-10
Anticipated expiration: 2032-05-25

Abstract

The utility model belongs to the technical field of the automatic egg technique of picking up in the chicken coop and specifically relates to a terminal automatic egg equipment that adorns of chicken coop, include: the egg picking device comprises an egg picking mechanical arm, an egg support supporting plate, a controller and an image acquisition assembly; the egg tray supporting plate is arranged at the tail end of the conveyor belt, and an egg taking area is arranged between the egg tray supporting plate and the conveyor belt; 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 image acquisition assembly acquires images on the egg taking area and the egg tray supporting plate; the controller receives the images collected by the image collecting assembly and controls the egg picking mechanical arm to move, and the controller is further electrically connected with the conveyor belt driving motor to control the rotation of the conveyor belt. Carry out automatic sorting to the egg that the conveyer belt conveyed out, pack the egg into the egg hole that the egg held in the palm, need not artificial participation, avoided the long distance conveying of egg simultaneously, reduce the contaminated probability of egg.

Description

Automatic egg loading equipment at tail end of chicken cage

Technical Field

The utility model belongs to the technical field of the automatic egg technique of picking up in the chicken coop and specifically relates to a terminal automatic egg equipment of adorning of chicken coop.

Background

In a large-scale chicken farm, egg picking is work with large labor degree and has large requirement on labor force, and the egg is mostly picked in an egg warehouse after egg collection and sorting mode nowadays.

All set up a conveyer belt below every row of chicken coop, be provided with egg collection transfer chain and egg collection elevator at the exit of conveyer belt, collect the egg that every row of chicken laid, then send into the egg storehouse, carry out mechanical sorting in the egg storehouse. The egg picking mode has the advantages that the egg picking efficiency is high, the manual labor intensity is low, the transmission distance of eggs 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 that the eggs are polluted can be increased, and the equipment purchase of the whole system needs to cost millions of yuan.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problem, the utility model discloses a technical scheme is:

the utility model provides a terminal automatic egg equipment of adorning of chicken coop, include:

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

the egg tray supporting plate is arranged at the tail end of the conveyor belt, and an egg taking area is arranged between the egg tray supporting plate and the conveyor belt; 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 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 image acquired by the image acquisition assembly and controls the egg picking manipulator to move, and is also electrically connected with the conveyor belt driving motor to control the conveyor belt to rotate;

wherein, still be provided with unqualified egg and place the district in manipulator snatchs the within range.

Furthermore, a negative pressure sucker is arranged on the grabbing claw and 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, the henhouse egg picking device also comprises a lifting mechanism, wherein 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, the bottom of the egg support plate is provided with a lifting assembly, the lifting assembly drives the egg support plate to lift, and the controller controls the lifting assembly to lift or descend.

Further, the device also comprises a conveyor belt driving motor and a magnetic coupling;

the conveyor belt driving motor is arranged on the cross beam;

the magnetic coupling comprises a power input end and a power output end, the power input end is connected with the output shaft of the conveyor belt driving motor, and the power output ends are connected with the conveyor belt power shafts in the vertical direction respectively.

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, a weighing sensor is connected between the grabbing claw and the mechanical arm, and the weighing sensor is in signal connection with the controller.

Furthermore, the middle part of the cross beam is connected with the upright post, and two ends of the cross beam are respectively provided with a group of manipulators and an egg support plate.

Further, the mechanical arm comprises a first rotating arm, a second rotating arm and a lifting arm;

one end of the first rotating arm is connected with the grabbing claw, the other end of the first rotating swing arm is connected with the second rotating arm through a first joint motor, and the other end of the second rotating arm is connected with the lifting arm through a second joint motor;

the lifting motor controls the heights of the first rotating arm and the second rotating arm.

Further, the image acquisition subassembly sets up get egg district and the top of egg support layer board, the image acquisition subassembly includes the camera, and a plurality of cameras carry out image acquisition to getting egg district and egg support layer board from different angles.

The beneficial effects of the utility model are embodied in:

the utility model provides a terminal automatic egg equipment of adorning of chicken coop sets up in the terminal conveyer belt exit of chicken coop, carries out automatic sorting to the egg that the conveyer belt conveyed out, packs into the egg in the egg hole that the egg held in the palm with the egg, need not artificial participation, has avoided the long distance conveying of egg simultaneously, reduces the contaminated probability of egg.

Drawings

FIG. 1 is a schematic installation diagram of an automatic egg loading device at the tail end of a chicken cage provided by the invention;

FIG. 2 is a schematic structural view of an automatic egg loading device at the end of a coop according to the present invention;

fig. 3 is a schematic structural view of the egg tray supporting plate and the egg taking manipulator provided by the invention;

FIG. 4 is a schematic view of an installation of an image capture assembly provided by the present invention;

FIG. 5 is a schematic view of the installation of the lift assembly provided by the present invention;

FIG. 6 is a schematic view of an egg placement provided by the present invention;

FIG. 7 is a schematic view of the present invention showing the placement of eggs in a vertical projection direction;

FIG. 8 is a schematic view of the gripper jaw and robot arm connection provided by the present invention;

fig. 9 is a schematic connection diagram of the egg tray supporting plate and the cross beam provided by the invention.

Reference numerals are as follows:

the egg picking manipulator 1, a first rotating arm 111, a second rotating arm 112, a lifting arm 113, a first joint motor 114, a second joint motor 115, a grabbing claw 12, a negative pressure suction cup 121 and a weighing sensor 13;

the egg tray supporting plate 2, an egg taking area 21, an unqualified egg placing area 22, a lifting assembly 23, a moving motor 24 and a gear 25;

the image acquisition assembly 3 and the camera 31;

the vertical column 41, the driving component 411, the cross beam 42, the conveyor belt driving motor 43, the magnetic coupling 44, the power input end 441, the power output end 442 and the rack 45;

coops 5, conveyor belt 51;

egg tray 6, egg hole 61, egg 62.

Detailed Description

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

Referring to fig. 1-9, the utility model provides a terminal automatic egg equipment of adorning of chicken coop, include:

the egg picking manipulator 1, the egg tray supporting plate 2, the controller and the image acquisition assembly 3 are arranged in the egg picking machine;

the egg tray supporting plate 2 is arranged at the tail end of the conveyor belt 51, and an egg taking area 21 is arranged between the egg tray supporting plate 2 and the conveyor belt 51; the egg tray supporting plate 2 can be used for placing an egg tray 6;

a conveyor belt 51 for conveying the eggs 62 is arranged below each row of henhouses, and the eggs 62 are collected and conveyed; laying hens usually live in the chicken cages 5 in rows in a large-scale chicken farm, eggs 62 roll out from the bottoms of the chicken cages 5 after the hens lay eggs, fall into the egg collecting grooves below the laying hens, the conveying belt 51 is arranged at the bottom of the egg collecting grooves, the eggs 62 directly fall onto the conveying belt 51 when rolling, the conveying belt 51 rotates when the eggs are collected to a certain amount at regular time, and the eggs 62 falling onto the conveying belt are conveyed out.

The egg taking area 21 is a place where the egg picking manipulator 1 picks eggs, the conveyor belt 51 can be selected as the egg taking area 21, or a plate connected with the conveyor belt 51 as shown in fig. 3 can be used as the egg taking area 21, eggs roll from the conveyor belt 51 to the egg taking area 21, and the egg picking manipulator 1 picks the eggs.

The egg picking manipulator 1 comprises a mechanical arm and a grabbing claw 12, the mechanical arm drives the grabbing claw 12 to move between the egg picking area 21 and the egg support plate 2, and the grabbing claw 12 is used for grabbing eggs;

the image acquisition assembly 3 acquires images on the egg taking area 21 and the egg tray supporting plate 2 and transmits the images to the controller;

the controller receives the image acquired by the image acquisition assembly 3 and controls the egg picking manipulator 1 to move, and the controller is also electrically connected with the conveyor belt driving motor 43 and controls the conveyor belt 51 to rotate;

through the image that image acquisition subassembly 3 gathered, for picking up egg manipulator 1 provides the position of snatching and placing the egg, conveyer belt 51 stop motion or slow motion when getting the egg of egg district 21 more, conveyer belt 51 moves when getting the egg of egg district 21 and transports the egg to getting egg district 21. 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 manipulator grabbing range is also provided with an unqualified egg placing area 22. Pick up egg manipulator 1 and place unqualified egg after snatching into in unqualified egg places the district.

In addition, the egg is divided into a big end and a small end, the big end of the egg is provided with an air chamber structure for providing air for hatching the chicks and adapting to the expansion with heat and contraction with cold of egg liquid, however, the air chamber of the egg, namely the big end of the egg, needs to be placed upwards when the egg is stored, the egg yolk is attached to the lower surface of the air chamber after floating, so that the microorganism can be prevented from invading the egg yolk, and the egg quality can be guaranteed.

The middle part between the big end and the small end of the egg can be grabbed by the egg picking manipulator 1;

when the egg picking mechanical arm 1 places the eggs on the egg tray 6, the egg picking mechanical arm 1 drives the eggs 62 to move to the position above an egg hole 61 on the egg tray 6, the large ends of the eggs are overlapped with the outlines of the egg holes 61 in the vertical projection direction (as shown in fig. 7), then the egg picking claws are taken out to grab the eggs 62, and the small ends of the eggs turn downwards and fall into the egg holes 61; when snatching egg 62 and placing through picking up egg manipulator 1, place egg 62's main aspects up to improve the quality of egg, the time of extension egg save.

During the falling process of the eggs, the big ends of the eggs are blocked by the egg tray surface outside the outline of the egg holes, and the eggs are reversed during the continuous falling process, so that the eggs fall into the egg holes in a mode that the small ends of the eggs are downward. The manipulator need not to deflect when the egg overturns, can remain the state that snatchs or relieve the egg downwards all the time, can effectually simplify putting the egg process of manipulator, further can also simplify the structure of picking up egg manipulator, dwindles the motion space of picking up egg manipulator.

Referring to fig. 8, further, a negative pressure suction cup 121 is disposed on the gripping claw 12, the negative pressure suction cup 121 is connected to a negative pressure driving assembly 411, and the negative pressure suction cup 121 has a negative pressure suction state and a non-negative pressure disengagement state;

The negative pressure sucking disc 121 carries out negative pressure adsorption on the eggs after contacting with the eggs, then the eggs are driven to move above the egg support 6 through rotation of the mechanical arm, the eggs are aligned with the egg holes 61 of the egg support 6 in the vertical direction, and then the negative pressure state is cut off, so that the eggs are separated from the negative pressure sucking disc 121 and fall into the egg holes 61. Compared with the clamping type grabbing claw 12, the negative pressure sucker 121 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 121.

Referring to fig. 2, further, the chicken house egg picking device further comprises a lifting mechanism, the lifting mechanism comprises a vertical column 41 and a cross beam 42, and the cross beam 42 is vertically crossed with the vertical column 41; moreover, the cross beam 42 is in sliding fit with the upright column 41;

the egg tray supporting plate 2 and the manipulator are arranged on the cross beam 42;

a driving component 411 is arranged in the length direction of the upright 41, and the driving component 411 drives the cross beam 42 to move in the length direction of the upright 41 and correspond to the conveyor belt 51;

the egg taking area 21 and the unqualified egg placing area 22 are arranged on the cross beam 42 and are driven by the cross beam 42 to move.

In order to improve the utilization rate of the floor, a plurality of rows of coops 5 are usually arranged in the henhouse in the vertical direction, and a conveyor belt 51 is correspondingly arranged at each row of coops 5 to collect eggs in the row of coops 5.

If all set up egg picking manipulator 1 and egg support layer board 2 in conveyer belt 51 one side of every row, then can double increase the purchase cost of picking up egg device, set up egg support layer board 2 and crossbeam 42 on crossbeam 42 in this embodiment, stand 41 is installed subaerial at chicken coop 5 one end, when drive assembly 411 drives crossbeam 42 along the length removal of stand 41, egg support layer board 2 and egg picking manipulator 1 can dock with the conveyer belt 51 of each layer, egg picking manipulator 1 picks up the egg on conveyer belt 51 one by one when rotating egg picking manipulator 1 that docks holds in the palm. Therefore, the plurality of conveyor belts 51 on the same vertical surface only need to be provided with a group of egg picking mechanical arms 1 and egg support supporting plates 2.

Preferably, the sliding fit between the cross beam 42 and the upright 41 may be implemented by arranging a sliding rail on the upright 41, arranging a sliding block on the cross beam 42, and mutually fastening the sliding rail and the sliding block.

The driving assembly 411 can be provided with a chain transmission as shown in fig. 2, the chain rotates on the upright post 41, the cross beam 42 is connected with the chain, and the chain rotates to drive the cross beam 42 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 41, the threaded hole matched with the screw rod is formed in the cross beam 42, and the screw rod is driven to rotate by the driving motor so as to drive the cross beam 42 to lift.

Referring to fig. 3 and 5, further, a lifting assembly 23 is disposed at the bottom of the egg tray supporting plate 2, the lifting assembly 23 drives the egg tray supporting plate 2 to lift, and the controller controls the lifting assembly 23 to lift or lower.

The egg tray supporting plate 2 can drive the egg trays received above the egg tray supporting plate to move in the vertical direction, after all the egg holes 61 on one egg tray 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 23, 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 process 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 23 may adopt a scissor-type lifting structure as shown in fig. 5, 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 2, 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 2 can be driven to move by arranging a screw hole in the moving direction of the egg tray supporting plate 2 to match with the screw rod.

Referring to fig. 1 and 2, further, a conveyor belt driving motor 43 and a magnetic coupling 44 are further included;

wherein the conveyor belt drive motor 43 is provided on the cross beam 42;

the magnetic coupling 44 includes a power input end 441 and a power output end 442, the power input end 441 is connected to an output shaft of the conveyor belt driving motor 43, and the plurality of power output ends 442 are respectively connected to the power shafts of the conveyor belt 51 in the vertical direction.

The magnetic coupling is a non-contact transmission connecting device, and one end of the magnetic coupling is connected to the output end of the conveyor belt driving motor 43, and the other end of the magnetic coupling is connected to a driven shaft, which is a shaft for driving the conveyor belt 51 to rotate in this example.

When the cross beam 42 moves to correspond to one of the conveyor belts 51, one end of the magnetic coupling 44 of the conveyor belt driving motor 43 is aligned with the magnetic coupling 44 of the conveyor belt 51, and the conveyor belt driving motor 43 rotates to drive the conveyor belt 51 to rotate. When the beam 42 moves to correspond to another conveyor belt 51 again, the conveyor belt driving motor 43 drives another conveyor belt 51 to move again. Therefore, one conveyor belt driving motor 43 can be adopted to drive each conveyor belt 51 in the vertical direction to move in a time-sharing mode, and the installation cost of the conveyor belts 51 is reduced.

Referring to fig. 9, further, the egg tray plate 2 is in sliding fit with the cross beam 42, a rack 45 is arranged in the length direction of the cross beam 42, the egg tray plate 2 is provided with the moving motor 24, a gear 25 is connected to the rotating shaft end of the moving motor 24, and the gear 25 is meshed with the rack 45.

Through the rotation of traveling motor 24, can drive egg and hold in the palm layer board 2 and move on crossbeam 42, especially hold in the palm the dress egg at the egg, and pick up egg manipulator 1 and set up in the top that the egg held in the palm layer board 2, when being not convenient for take out egg and hold in the palm layer board 2, accessible traveling motor 24 control egg holds in the palm layer board 2 and moves on crossbeam 42, moves to crossbeam 42 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.

Referring to fig. 8, further, a weighing sensor 13 is connected between the grabbing claw 12 and the mechanical arm, and the weighing sensor is in signal connection with the controller.

The weighing sensor 13 can weigh the eggs grabbed each time, so that the eggs can be conveniently graded in terms of weight, and the weight of the eggs held in the egg tray is uniform.

Referring to fig. 2, further, the middle of the cross beam 42 is connected to the upright 41, and a set of manipulator and the egg tray support plate 2 are respectively disposed at two ends of the cross beam 42.

The chicken coop 5 arrangement mode that the collecting grooves are formed in the two sides of the chicken coop 5 is that the conveying belts 51 are arranged on the two sides of the chicken coop 5, the two ends of the cross beam 42 are respectively provided with the egg picking mechanical arm 1 and the egg supporting plate 2, and meanwhile eggs on the conveying belts 51 on the two sides are collected.

Referring to fig. 8, further, the robot arm includes a first rotating arm 111, a second rotating arm 112, and a lifting arm 113;

one end of the first rotating arm 111 is connected with the grabbing claw 12, the other end of the first rotating swing arm is connected with the second rotating arm 112 through a first joint motor 114, and the other end of the second rotating arm 112 is connected with the lifting arm 113 through a second joint motor 115;

the elevation motor controls the heights of the first and second

rotating arms

111 and 112.

The first joint motor 114 and the second joint motor 115 drive the first rotating arm 111 and the second rotating arm 112 to rotate, so as to drive the grabbing claw 12 to move to any position within the travel range. The lifting arm 113 drives the first grabbing claw 12 to ascend and descend in the vertical direction, and the egg is grabbed, lifted and then put down.

Referring to fig. 4, further, the image capturing assembly 3 is disposed above the egg taking area 21 and the egg tray supporting plate 2, the image capturing assembly 3 includes a camera 31, and the image capturing assembly 3 captures images of the egg taking area 21 and the egg tray supporting plate 2 from different angles by the cameras 31.

The image of the egg taking area 21 and the image of the egg support are collected by the camera 31 from multiple angles, so that the situation that the image collection sight is blocked by the grabbing claw 12 can be avoided, and eggs at various positions can be accurately grabbed and put down.

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", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for the purpose of describing the present invention and simplifying the description, but not for the purpose of indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Where "inside" 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 to imply that the number of indicated technical features is significant. 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 explicitly stated or limited otherwise, 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 meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In describing 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 the 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 related 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 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 equipment of adorning of chicken coop end which characterized in that includes:

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

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 loading device at the tail end of the chicken cage according to claim 1, characterized in that:

the grabbing claw is provided with 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 loading device at the tail end of the chicken cage as claimed in claim 1, wherein:

the automatic egg loading equipment at the tail end of the coop 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;

4. The automatic egg loading device at the tail end of the chicken cage according to claim 1, characterized in that:

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 loading device at the tail end of the chicken cage according to claim 3, characterized in that:

the device also comprises a conveyor belt driving motor and a magnetic coupling;

the conveyor belt driving motor is arranged on the cross beam;

6. The automatic egg loading device at the tail end of the chicken cage according to claim 3, characterized in that:

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 loading device at the tail end of the chicken cage as claimed in claim 1, wherein:

and a weighing sensor is connected between the grabbing claw and the mechanical arm, and the weighing sensor is in signal connection with the controller.

8. The automatic egg loading device at the tail end of the chicken cage as claimed in claim 3, wherein:

the middle part of the cross beam is connected with the upright post, and two ends of the cross beam are respectively provided with a group of manipulators and an egg support plate.

9. The automatic egg loading device at the tail end of the chicken cage according to claim 1, characterized in that:

the mechanical arm comprises a first rotating arm, a second rotating arm and a lifting arm;

the conveyor belt driving motor controls the heights of the first rotating arm and the second rotating arm.

10. The automatic egg loading device at the tail end of the chicken cage as claimed in claim 1, wherein:

the image acquisition assembly is arranged above the egg taking area and the egg support supporting plate, the image acquisition assembly comprises cameras, and the plurality of cameras acquire images of the egg taking area and the egg support supporting plate from different angles.