Egg picking robot

Abstract

The invention relates to an egg picking robot and belongs to the field of advanced manufacture and machine vision related technical equipment. The robot comprises a six-joint mechanical arm and a clamping jaw fixedly connected with the six-joint mechanical arm, wherein the clamping jaw mainly comprises a substrate, a lifting mechanism for driving the substrate to move along the Z axis, an X-axis egg clamping mechanism mounted on the substrate, a Y-axis egg clamping mechanism mounted on the substrate, a first camera mounted on the side surface of the substrate and used for recognizing whether eggs exist in an egg trough as well as a second camera mounted on the lower surface of the substrate and used for judging egg positions, wherein the X-axis egg clamping mechanism is provided with X-axis egg supports capable of moving along X axis, and the Y-axis egg clamping mechanism is provided with Y-axis egg supports capable of moving along Y axis. With adoption of the provided robot, a targetegg can be separated and grabbed from an egg group.

Description

technical field [0001] The invention relates to the field of advanced manufacturing and machine vision-related technical equipment, and specifically relates to an egg-picking robot. Background technique [0002] In the current large-scale chicken farms, it is necessary to manually pick up the eggs, and put the eggs neatly in the egg basket with the big head up and the small head down. Manually picking eggs has a large workload, requires a lot of physical strength, and has low efficiency. [0003] In order to solve the above disadvantages, in the prior art, there are some researches on egg-picking robots and egg-picking claws. For example: the Chinese patent document whose publication number is CN202264222U provides a kind of automatic egg picking manipulator. The scheme mainly includes three grippers, a cylinder controlling the movements of the three grippers, and a body capable of multi-degree-of-freedom movements. In this solution, sensors are installed on the three jaw...

AI Technical Summary

Problems solved by technology

Because the gripper is a pneumatic gripper, when the target egg is stacked with other eggs to form an egg group, the inner sensor will detect the egg during the closing process of different grippers and then stop the action, so that the gripper cannot be completely closed, resulting in the egg being unable to grasp Pick

And the working noise of the pneumatic gripper is relatively loud, which will affect the egg production of laying hens

[0007] The Chinese document with the publication number CN105145407A, although the working noise is low, it is also impossible to separate and place the target eggs in the egg group separately, and can only take the eggs out of the egg rack in batches and then manually sort them

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