Automatic impurity removing device for bird's nest and method for identifying and removing impurities of bird's nest

Abstract

The application provides an automatic impurity removing device for bird's nest and a bird's nest impurity identification and removing method. The automatic impurity removing device for bird's nest comprises a conveying assembly, an identification assembly, a bird's nest special fixture and an impurity removing manipulator. The bird's nest can be conveyed through the conveying assembly, and a flow production operation is realized. The bird's nest special fixture can be combined with the identification assembly to accurately identify the type, position, shape and size of different impurities such as feathers, eggshells and excrement. The impurity removing manipulator can be combined with the bird's nest special fixture to clean impurities at each position, and an automatic bird's nest impurity removing process is realized. The application effectively solves the problems that the impurity removing of the bird's nest in the prior art mainly depends on manual operation, the efficiency of cleaning the bird's nest is low, and the cost is high.

Description

Technical Field

[0001] This application relates to the technical field of bird's nest processing, and in particular to an automatic bird's nest impurity removal device and a method for identifying and removing bird's nest impurities. Background Technology

[0002] Bird's nest is a precious tonic, and traditional Chinese medicine believes it has various nutritional and health benefits. Bird's nest is a nest built by the Javan swiftlet (Apodidae family) using a mixture of saliva and down feathers. It is rich in glycoproteins, mucoproteins, and the bioactive substance sialic acid, making it highly sought after. Because bird's nests are the breeding grounds of swiftlets, they are harvested only after the chicks have fully developed and flown away. During the breeding season, some impurities, such as feathers, feces, and eggshells, may remain inside the nest. This untreated primary product is called "raw bird's nest" (or "uncleaned bird's nest"). After cleaning, it becomes "cleaned bird's nest," the commercially available product. To produce dried bird's nest or process it into freshly stewed or ready-to-eat bird's nest, the raw bird's nest must be cleaned and its impurities removed.

[0003] In existing technologies, the initial processing of bird's nest often involves removing impurities manually. The process usually involves soaking the bird's nest in water and then using tweezers to pick out the impurities. The largest proportion of impurities are the feathers of the swiftlet, especially the down feathers and hair feathers, which are small in diameter and short in length. Manual cleaning is difficult, inefficient, and costly. Summary of the Invention

[0004] This application provides an automatic bird's nest impurity removal device and a method for identifying and removing bird's nest impurities, in order to solve the problem that the removal of impurities from bird's nests in the prior art mainly relies on manual operation, resulting in low efficiency and high cost.

[0005] In a first aspect, this application provides an automatic bird's nest impurity removal device for removing impurities from bird's nests, wherein the bird's nest includes a main body and two opposing corners, and the automatic bird's nest impurity removal device includes:

[0006] A transmission component, the transmission component including a transmission structure and a mounting panel, the transmission structure being disposed along a first direction, and the mounting panel being located on one side of the transmission structure;

[0007] An identification component is fixedly mounted on the mounting panel and is used to collect information on impurities in the bird's nest.

[0008] A special clamp for bird's nests, which is detachably mounted on the conveying structure and has a clamping state with the bird's nest corner;

[0009] The impurity removal robot includes a drive component, which drives the impurity removal component to work with the bird's nest-specific clamp to remove impurities from the bird's nest while it is being held.

[0010] According to some embodiments of this application, the identification component includes a plurality of identification structures arranged sequentially along the first direction to collect impurity information of the bird's nest in multiple states. The impurity removal robotic arms are multiple and are respectively located between two adjacent identification structures to remove impurities from the bird's nest multiple times.

[0011] According to some embodiments of this application, the identification structure includes a first collector, a second collector, and a third collector. The first collector is used to collect impurity information of the bird's nest, and the second and third collectors are used to confirm the impurity information of the bird's nest.

[0012] According to some embodiments of this application, the bird's nest clamp includes a base, a placement mechanism, and a clamping mechanism. The placement mechanism includes a column and a telescopic arm. The telescopic arm is provided with multiple support surfaces adapted to different surfaces of the bird's nest body. The telescopic arm can move relative to the column, and the column is fixedly connected to the base. The clamping mechanism is movably connected to the base and has a clamping state with the bird's nest corner to adapt the bird's nest body to different support surfaces.

[0013] According to some embodiments of this application, a buffer layer is provided at the position where the clamping mechanism contacts the bird's nest, and the buffer layer is made of absorbent material.

[0014] According to some embodiments of this application, the impurity removal component includes a base, an impurity gripping mechanism, a spraying mechanism, and a suction mechanism. The base is detachably connected to the drive component. The impurity gripping mechanism is fixedly disposed on the base for gripping impurities inside the bird's nest. The spraying mechanism is fixedly disposed on the base for spraying fluid onto the bird's nest. The suction mechanism is fixedly disposed on the base for absorbing liquid mixtures located on the surface of the bird's nest.

[0015] According to some embodiments of this application, the driving component includes a robotic arm and a mounting base. The mounting base is provided with an identification mechanism, which includes a collection structure. The collection structure is slidably connected to the robotic arm, and the collection range of the collection structure includes the setting area of ​​the impurity removal component.

[0016] Secondly, this application provides a method for identifying and removing impurities from bird's nest. This method utilizes the aforementioned automatic bird's nest impurity removal equipment, which further includes the following steps:

[0017] S10, identify and collect information on multiple first impurities in the bird's nest;

[0018] S20, perform the first impurity removal of the bird's nest;

[0019] S30, adjust the position and state of the bird's nest;

[0020] S40, identify and collect information on multiple second impurities in the bird's nest;

[0021] S50, perform the second impurity removal of the bird's nest;

[0022] S60, collect the state information of the bird's nest, check whether the first impurity and the second impurity have been completely removed, and identify and collect the information of the third impurity of the bird's nest;

[0023] S70, repeat step S10 until the bird's nest is free of the first impurity, the second impurity and the third impurity.

[0024] According to some embodiments of this application, the step of identifying and collecting information on multiple first impurities in the bird's nest further includes:

[0025] S21, Collect the position and morphology information of the first impurity.

[0026] S22, Determine the type of the first impurity.

[0027] S23, determine the removal order of the first impurity based on the information of the first impurity.

[0028] According to some embodiments of this application, the first impurity removal of the bird's nest further includes:

[0029] S31, adjust the impurity removal tools according to the removal order of the first impurities;

[0030] S32, Spray cleaning solution onto the bird's nest to keep the bird's nest moist;

[0031] S33, using a clamping method to sequentially remove impurities from the inside of the bird's nest to the outside of the bird's nest;

[0032] S34, to transfer and collect impurities, and to adsorb residual liquid on the surface of the bird's nest.

[0033] The technical solution provided in this application has the following advantages compared with the prior art:

[0034] This application provides an automatic bird's nest impurity removal device and a method for identifying and removing impurities from bird's nests. The automatic bird's nest impurity removal device includes: a transmission component, an identification component, a bird's nest-specific clamp, and an impurity removal robot. The transmission component includes a conveying structure and a mounting panel. The conveying structure is arranged along a first direction, and the mounting panel is located on one side of the conveying structure. The identification component is fixedly mounted on the mounting panel and is used to collect information about bird's nest impurities. The bird's nest-specific clamp is detachably mounted on the conveying structure and is in a clamping state with the bird's nest corner. The impurity removal robot includes a drive component and a removal component. The drive component drives the removal component to cooperate with the bird's nest-specific clamp to remove impurities from the bird's nest in the clamping state. The transmission component enables the transmission of bird's nests, achieving streamlined operation. The clamping state of the bird's nest-specific clamp, combined with the identification component, allows for accurate identification of the type, location, shape, and size of impurities. The impurity removal robot, in conjunction with the bird's nest-specific clamp, cleans impurities at each location, achieving an automated bird's nest impurity removal process. The fully automated impurity removal process can accurately locate and target impurities in bird's nests, effectively avoiding manual labor. This application effectively solves the problem of low efficiency and high cost in existing technologies where impurity removal from bird's nests mainly relies on manual labor. Attached Figure Description

[0035] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0038] Figure 1 This paper shows a three-dimensional structural schematic diagram of an automatic bird's nest cleaning device provided in an embodiment of this application;

[0039] Figure 2 It shows Figure 1 A front view schematic diagram of the identification component of an automatic bird's nest impurity removal device;

[0040] Figure 3 It shows Figure 1A three-dimensional structural diagram of the bird's nest clamp in conjunction with the bird's nest in an automatic bird's nest cleaning device;

[0041] Figure 4 It shows Figure 3 A front view diagram of a bird's nest clamp used in conjunction with a bird's nest.

[0042] Figure 5 It shows Figure 3 A top view of a special clamp for bird's nests;

[0043] Figure 6 It shows Figure 3 A front view diagram of the gripper claws of a bird's nest clamp;

[0044] Figure 7 It shows Figure 1 A three-dimensional structural diagram of the impurity removal robot in an automatic bird's nest removal equipment;

[0045] Figure 8 It shows Figure 7 A three-dimensional structural diagram of the impurity removal robot from another angle;

[0046] Figure 9 It shows Figure 7 A three-dimensional structural diagram of the identification mechanism and adjustment base of the impurity removal robot.

[0047] Figure 10 It shows Figure 7 A three-dimensional structural diagram of the identification mechanism of the impurity removal robot;

[0048] Figure 11 It shows Figure 1 A three-dimensional structural diagram of the impurity removal components of an automatic bird's nest removal device;

[0049] Figure 12 A schematic diagram of the three-dimensional structure of bird's nest is shown;

[0050] Figure 13 It shows Figure 12 A front view illustration of bird's nest.

[0051] The above figures include the following reference numerals:

[0052] 10. Transmission component; 11. Conveying structure; 12. Mounting panel; 20. Identification component; 21. Identification structure; 211. First collector; 212. Second collector; 213. Third collector; 22. Assembly rack; 221. Arc-shaped assembly area; 222. Mounting base; 30. Bird's nest special clamp; 31. Base; 311. Sliding cavity; 32. Placement mechanism; 321. Column; 322. Telescopic arm; 323. Support surface; 33. Clamping mechanism; 331. Gripper; 3311. First clamping piece; 3312. Second clamping piece; 3313. Pushing component; 332. Rotating head; 333. Connecting rod structure; 334. First cylinder; 335. Sliding seat; 40. Impurity removal robot; 41. Drive component; 411. Robotic arm; 412. Mounting base; 42. Identification mechanism; 421. Collection structure; 4211. Tube lens; 4212. Camera body; 422. Mounting base; 4221. Sliding groove; 4222. First mating surface; 4223. Second mating surface; 423. Sliding base; 424. Limiting seat; 425. Adjustment structure; 43. Fixed base; 44. Adjustment base; 441. First adjustment surface; 442. Second adjustment surface; 50. Impurity removal component; 51. Base; 52. Impurity grabber 521. Grasping mechanism; 5211. Driving component; 5212. Clamp; 5213. Linkage assembly; 522. Hooking structure; 5221. Hook; 5222. Telescopic cylinder; 53. Spraying mechanism; 531. Spray head; 532. First brush head structure; 54. Suction mechanism; 541. Suction head; 542. Second brush head structure; 100. Bird's nest; 110. Bird's nest body; 120. Bird's nest corner. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0055] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0056] like Figure 1 As shown in the illustration, this application provides an automatic bird's nest impurity removal device for removing impurities from bird's nest 100. Bird's nest 100 includes a main body 110 and two opposing bird's nest corners 120. The automatic bird's nest impurity removal device includes:

[0057] The system includes a transmission component 10, an identification component 20, a bird's nest-specific clamp 30, and an impurity removal robot 40. The transmission component 10 includes a transmission structure 11 and a mounting panel 12. The transmission structure 11 is arranged along a first direction X, and the mounting panel 12 is located on one side of the transmission structure 11. The identification component 20 is fixedly mounted on the mounting panel 12 and is used to collect impurity information of the bird's nest 100. The bird's nest-specific clamp 30 is detachably mounted on the transmission structure 11 and is in a clamping state with the bird's nest corner 120. The impurity removal robot 40 includes a drive component 41, which is used to drive the impurity removal component 50 to cooperate with the bird's nest-specific clamp 30 to remove impurities from the bird's nest 100 in the clamping state.

[0058] The transmission component 10 enables the transport of bird's nest 100, achieving streamlined operation. The gripping state of the bird's nest 100 by the bird's nest-specific clamp 30, in conjunction with the identification component 20, accurately identifies the type, location, shape, and size of impurities. The impurity removal robot 40, working in conjunction with the bird's nest-specific clamp 30, cleans impurities at each location, achieving an automated impurity removal process for the bird's nest 100. During this fully automated impurity removal process, impurities in the bird's nest 100 can be precisely located and targeted for removal, effectively avoiding manual labor. This application effectively solves the problem of low efficiency and high cost in the prior art, where impurity removal of bird's nest mainly relies on manual labor.

[0059] It should be noted that the first direction X is the transport direction of the conveying structure 11, the second direction Y is a vertical direction perpendicular to the first direction X, and the third direction Z is perpendicular to both the first direction X and the second direction Y. The conveying structure 11 is specifically a conveyor belt made of food-grade materials, which will not cause secondary contamination to the bird's nest 100. The conveyor belt can be equipped with assembly and disassembly positions for the bird's nest-specific clamps 30. This arrangement allows for a relatively fixed processing interval for the bird's nest 100, which, on the one hand, facilitates the removal of impurities, and on the other hand, improves overall processing efficiency, enabling batch impurity removal operations. Furthermore, the front and rear ends of the automatic bird's nest impurity removal equipment can be equipped with loading and unloading devices to further automate the process from soaking the bird's nest 100 to impurity removal and subsequent processes. Specifically, the conveyor belt can be a trough-shaped conveyor belt, which can collect and discharge wastewater generated during the initial processing of the bird's nest.

[0060] like Figure 12 and 13 As shown, the bird's nest 100 in this embodiment is boat-shaped, including the main body 110 and the bird's nest corners 120 at both ends, which is approximately a quarter circle of rotation.

[0061] like Figure 1 As shown, in the technical solution of this embodiment, the identification component 20 includes multiple identification structures 21 arranged sequentially along the first direction X to collect impurity information of the bird's nest 100 in multiple states. Multiple impurity removal robots 40 are located between adjacent identification structures 21 to remove impurities from the bird's nest 100 multiple times. The arrangement of multiple identification structures 21 in conjunction with multiple impurity removal robots 40 enables multiple impurity removals during a single transport, effectively removing impurities and improving the efficiency of impurity removal from the bird's nest 100, thus achieving high-efficiency and high-quality bird's nest processing.

[0062] like Figure 2 As shown, in the technical solution of this embodiment, the identification structure 21 includes a first collector 211, a second collector 212 and a third collector 213. The first collector 211 is used to collect impurity information of the bird's nest 100, and the second collector 212 and the third collector 213 are used to confirm the impurity information of the bird's nest 100.

[0063] This setup increases the accuracy of impurity information collection from the bird's nest 100, facilitating subsequent impurity removal. Furthermore, the different collection directions of multiple collectors allow for effective comparison and integration of impurity information that cannot be captured by a single camera, increasing the accuracy of impurity confirmation and reducing the need for multiple impurity identification steps.

[0064] It should be noted that, in a specific embodiment, the collection directions of the first collector 211, the second collector 212, and the third collector 213 are located on the same plane, and the collection direction of the first collector 211 is set along the second direction Y. The collection directions of the second collector 212 and the third collector 213 are both set at a 45-degree angle to the collection direction of the first collector 211. This setting can effectively collect the area corresponding to the swallow's nest corner 120, and then collect the impurities at the position of the swallow's nest corner 120. This can effectively achieve the collection of impurities from the entire swallow's nest 100.

[0065] Furthermore, such as Figure 1 and Figure 2 As shown in the technical solution of this embodiment, the identification component 20 further includes an assembly frame 22, which includes an arc-shaped assembly area 221. The arc-shaped assembly area 221 is used for the installation of the first collector 211, the second collector 212, and the third collector 213. The arc-shaped assembly area 221 helps to concentrate the collection points, meaning that the optimal collection range of the first collector 211, the second collector 212, and the third collector 213 is kept in the same area, thus improving the effectiveness of the collectors. The arc-shaped assembly area 221 spans across the conveying structure 11 in the third direction Z and is fixedly connected to the mounting panel 12 via a mounting base 222. Alternatively, the assembly frame 22 can be inserted into the mounting base 222 after an insertable mounting base is provided on the mounting panel 12, which is more convenient and provides better assembly accuracy.

[0066] It should be noted that the first collector 211, the second collector 212, and the third collector 213 can be different types of data acquisition devices. For example, the first collector 211 can be a 3D scanning camera, while the second collector 212 and the third collector 213 can be color area scan cameras. The 3D scanning camera can acquire three-dimensional data of the bird's nest 100 in terms of images and videos, effectively detecting the shape, size, and location of impurities. The color area scan camera can photograph different impurity information, allowing for cross-verification and defect determination through the images acquired by the cameras.

[0067] Furthermore, in order to cooperate with the collection of the first collector 211, the second collector 212 and the third collector 213, different light source modules can be set in the automatic bird's nest impurity removal equipment. Specifically, it can be one or more of the following: shadowless light source, coaxial light source, ring light source and ultraviolet light source. This can address the situation where the collector cannot correctly display the small impurities inside the bird's nest under certain lighting conditions, thereby more accurately identifying small impurities and solving the problem of poor imaging effect caused by using ordinary light as a supplementary light source for the collector, which affects the removal of bird's nest impurities.

[0068] like Figures 3 to 6As shown, in the technical solution of this embodiment, the bird's nest special clamp 30 includes a base 31, a placement mechanism 32, and a clamping mechanism 33. The placement mechanism 32 includes a column 321 and a telescopic arm 322. The telescopic arm 322 is provided with multiple support surfaces 323 that are adapted to different surfaces of the bird's nest body 110. The telescopic arm 322 can move relative to the column 321. The column 321 is fixedly connected to the base 31. The clamping mechanism 33 is movably connected to the base 31. The clamping mechanism 33 has a clamping state with the bird's nest corner 120 to adapt the bird's nest body 110 to different support surfaces 323. The multiple support surfaces 323 can accommodate two surfaces of the bird's nest 100, namely the concave and convex surfaces. The support surfaces 323 support the main body 110 of the bird's nest, ensuring its stability during impurity removal. This improves the accuracy of the identification component 20 and enhances its coordination. Furthermore, the support during impurity removal maintains the stability of the bird's nest during the removal process, resulting in a more stable structure. The clamping mechanism 33 clamps the corner 120 of the bird's nest 100, securing a portion of the nest and improving its overall condition. This eliminates the need for manual clamping, preventing damage or excessive deformation and improving the overall quality of the bird's nest 100. The clamping mechanism 33 is movably connected to the base 31, allowing it to rotate after clamping the bird's nest 100, enabling the conversion between the convex and concave surfaces for better subsequent impurity removal.

[0069] It should be noted that in the technical solution of this embodiment, multiple support surfaces 323 are arranged along the length direction of the telescopic arm 322. That is, the support surface 323 that cooperates with the clamping mechanism 33 can be switched by the extension and retraction of the telescopic arm 322. This increases the degree of cooperation between the clamping mechanism 33 and the telescopic arm 322, reduces the clamping difficulty and clamping requirements of the clamping mechanism 33, and makes the structure more compact and the cooperation effect better.

[0070] like Figures 3 to 5 As shown, in this embodiment, the clamping mechanism 33 includes a gripper 331, a rotating head 332, and a connecting rod structure 333. The gripper 331 is fixedly connected to one end of the rotating head 332, and the other end of the rotating head 332 is rotatably connected to the connecting rod structure 333. The connecting rod structure 333 can slide relative to the base 31. This arrangement of the gripper 331 and the rotating head 332 enables the gripper 331 to rotate, thereby fulfilling the requirement of turning the bird's nest 100 over to remove impurities and improving the automation of impurity removal from the bird's nest 100. The connecting rod structure 333 is used to provide the position and angle of the gripper 331 and the rotating head 332, thus matching the specific shape and position of the bird's nest 100.

[0071] Specifically, the end of the connecting rod structure 333 away from the base 31 is set at a 45-degree angle to the end face of the telescopic arm 322. This allows it to be clamped in accordance with the position of the swallow's corner 120, and also allows the concave and convex surfaces of the swallow's nest 100 to cooperate with the support surface 323 even after being clamped.

[0072] like Figures 3 to 5 As shown, in the technical solution of this embodiment, the clamping mechanism 33 further includes a first cylinder 334 and a sliding seat 335. The first cylinder 334 is fixedly connected to the sliding seat 335, and the output end of the first cylinder 334 is fixedly connected to the connecting rod structure 333. The sliding seat 335 is slidably connected to the base 31. The first cylinder 334 is used to adjust the vertical position of the connecting rod structure 333, and the sliding seat 335 is used to adjust the horizontal position of the connecting rod structure 333 to adapt to different sizes of bird's nests 100, so that the clamping position between the bird's nest corner 120 and the clamping claw 331 is in the optimal state, which is conducive to the removal of impurities from the bird's nest 100 and also to the protection of the bird's nest 100.

[0073] like Figure 3 and Figure 5 As shown, in the technical solution of this embodiment, the base 31 is provided with a sliding cavity 311, and the sliding seat 335 can slide along the length direction of the sliding cavity 311. The sliding cavity 311 is provided to restrict the vertical degree of freedom of the sliding seat 335 and to restrict the range of motion of the sliding seat 335. This arrangement makes the displacement accuracy of the sliding seat 335 higher and the fit better, which is beneficial to the subsequent removal of impurities.

[0074] like Figures 3 to 5 As shown, in the technical solution of this embodiment, there are multiple clamping mechanisms 33, and the sliding seats 335 of the multiple clamping mechanisms 33 can all slide along the length direction of the sliding cavity 311. The multiple clamping mechanisms 33 are mainly used to clamp the two corners 120 on both sides of the bird's nest 100. When removing impurities, one clamping mechanism 33 can be used to clamp the corner 120 to remove impurities from the main body 110 of the bird's nest and the other corner 120, or both corners 120 can be clamped at the same time to remove impurities from the main body 110 of the bird's nest. The clamping method is more flexible, more controllable, and can also meet the requirements for removing impurities at the corner 120 position.

[0075] It should be noted that the arrangement of the first cylinder 334, the sliding cavity 311, and the sliding seat 335 allows the clamping mechanism 33 to be moved away from the side of the bird's nest 100 that does not need to be clamped through the first cylinder 334 and the sliding seat 335. This reduces the impact of the clamping mechanism 33 on the structure for removing impurities, resulting in better coordination of automated impurity removal and a higher degree of automation.

[0076] like Figure 6As shown, in this embodiment, a pusher 3313 is provided between the gripper 331 and the rotating head 332. The pusher 3313 drives the gripper 331 to switch between a clamping state and a releasing state. The pusher 3313 is used to drive the gripper 331 to open and close, corresponding to the clamping and releasing states. This arrangement is compact and simple, with better opening and closing effect. It can be implemented using pneumatic or hydraulic drive, resulting in stronger reliability and controllability. It should be noted that the pusher 3313 is specifically a connecting rod, with a ball-shaped structure at the end of the connecting rod. When it needs to open, the pusher 3313 extends into the gripper 331, causing the gripper 331 to separate.

[0077] Furthermore, in the technical solution of this embodiment, the gripper 331 includes a first clamping piece 3311 and a second clamping piece 3312. Both the first clamping piece 3311 and the second clamping piece 3312 are rotatably connected to the rotating head 332. The first clamping piece 3311 and the second clamping piece 3312 are provided with elastic elements to drive the first clamping piece 3311 and the second clamping piece 3312 to maintain the clamping state. The elastic elements enable the gripper 331 to maintain the clamping state, so that the bird's nest 100 will not easily fall off after being clamped, and there is no need to use a cylinder or other prime mover to continuously output force, which can reduce the overall power consumption. In addition, the elastic force of the elastic element can be used for the conversion between elastic potential energy and kinetic energy. The clamping state and the initial state are both in a balanced state, which can effectively protect the clamp in its working state, and thus prevent failure or loss of elasticity of the elastic element. The applicable scope and the effect of use are better.

[0078] It should be noted that the elastic element can be a torsion spring, with its two ends fixed to the first clamping piece 3311 and the second clamping piece 3312 respectively. Clamping is achieved through the contact between the first clamping piece 3311 and the second clamping piece 3312. The clamping surfaces of the first clamping piece 3311 and the second clamping piece 3312 are arc-shaped, which is beneficial for the setting of the curved surface of the dovetail 120 and reduces the excessive clamping of the dovetail 120 at a single point.

[0079] Furthermore, the overlapping area between the first clip 3311 and the second clip 3312 and the bird's nest 100 accounts for 10% to 25% of the total surface area of ​​the bird's nest 100. The area around the overlapping area of ​​the first clip 3311 and the second clip 3312 with the bird's nest 100, where it is inconvenient to remove impurities, accounts for less than 10% of the total surface area of ​​the bird's nest 100. This ensures that the clamping effect is not affected, while also allowing for a larger range of impurity removal, thereby improving the efficiency of impurity removal.

[0080] Furthermore, in this embodiment, a buffer layer is provided at the contact point between the clamping mechanism 33 and the bird's nest 100. The buffer layer is made of absorbent material. The buffer layer can withstand the clamping force of the clamping mechanism 33, and also has a certain degree of elastic deformation, allowing it to adapt to the irregular corners 120 of the bird's nest 100. It also reduces the force on the bird's nest 100, reliably clamping it without it falling off.

[0081] It should be noted that the absorbent material can be made of materials such as sponge or non-woven fabric that can absorb and temporarily store liquids. This can keep the bird's nest in a humid environment and increase its structural strength through the liquid, preventing it from being squeezed too much and deformed.

[0082] like Figure 11 As shown, in the technical solution of this embodiment, the impurity removal component 50 includes a base 51, an impurity gripping mechanism 52, a spraying mechanism 53, and a suction mechanism 54. The base 51 is detachably connected to the drive component 41. The impurity gripping mechanism 52 is fixedly mounted on the base 51 and is used to grip impurities inside the bird's nest 100. The spraying mechanism 53 is fixedly mounted on the base 51 and is used to spray fluid onto the bird's nest 100. The suction mechanism 54 is fixedly mounted on the base 51 and is used to absorb the liquid mixture located on the surface of the bird's nest 100. This setup allows for targeted removal of different impurities. It can use spraying and suction to directly remove floating, moving, and surface impurities driven by the fluid without damaging the bird's nest 100. Impurities embedded in the bird's nest 100 are also removed using the optimal removal route. After removal, they can be further processed by the suction mechanism 54. This prevents impurities from falling outside and causing secondary pollution, effectively avoiding the problem of some bird's nest body 110 being damaged and affecting the quality and integrity of the bird's nest.

[0083] like Figure 11 As shown, in this embodiment, the impurity grasping mechanism 52 includes a grasping structure 521, which includes a driving member 5211 and a clamp 5212. The driving member 5211 is used to drive the clamp 5212 to open and close. The driving member 5211 is configured to open and close the clamp 5212 to handle impurities in different positions, and the open clamp 5212 can also achieve single-point piercing, reducing damage to the bird's nest body 110.

[0084] It should be noted that the clamp 5212 is a clamping device with sharp ends. When closed, it can fit completely together and is suitable for picking up impurities with a diameter of 20 micrometers or more. It can also hold the feathers in the feathers of swiftlets. The overlapping surface of the clamping device gradually increases inward along the ends, which allows more feathers to enter between the clamping devices and be clamped. It can adapt to more feather shapes and effectively form the clamping of the entire feather, thus providing the conditions for plucking the feather.

[0085] like Figure 11 As shown, in this embodiment, the driving component 5211 is a cylinder, and a connecting rod assembly 5213 is provided between the cylinder and the chuck 5212. The output end of the cylinder is rotatably connected to the connecting rod assembly 5213, and the chuck 5212 is fixedly connected to the output end of the connecting rod assembly 5213. This driving method has a compact structure and is easy to assemble, realizing the opening and closing of the chuck 5212. The cylinder's air source is also easy to obtain, allowing it to be used with other structures for control using the same air source. The existing technology for cylinders is relatively mature, and its control method and control accuracy can be guaranteed, making it suitable for the preliminary processing of bird's nest 100.

[0086] It should be noted that in the technical solution of this embodiment, the linkage assembly 5213 includes a drive linkage, two limiting linkages, and two connecting linkages. The clamp 5212 includes two clamping plates. The two limiting linkages are rotatably connected to the outer shell of the drive member 5211. The drive linkage is fixedly connected to the output end of the drive member 5211. Both ends of the drive linkage are rotatably connected to the two connecting linkages. One end of the connecting linkage is fixedly connected to the clamping plate, and the other end of the connecting linkage is rotatably connected to the limiting linkage. This linkage arrangement is compact and has a fixed direction, which is compatible with the cylinder setting and can effectively complete the removal of 100% impurities from bird's nest.

[0087] like Figure 11 As shown, in this embodiment, the gripping structure 521 consists of two parts: one gripper 5212 is a pointed gripper, and the other is an eagle-beak gripper. The pointed gripper can handle situations where the ends of impurities are vertical or exposed, allowing for effective gripping from the front. This gripping method is more direct, with more accurate positioning and gripping points. The eagle-beak gripper is used to extend into the bird's nest 100 along a fixed direction to remove impurities. This design allows some impurities located inside the bird's nest body 110 to be removed via the eagle-beak gripper's pull-out path, thus removing impurities even if the bird's nest body 110 is partially damaged.

[0088] For example, if feathers are considered impurities and are located in an arc shape within the main body 110 of the bird's nest, an eagle-beak shaped clamp is inserted into the bird's nest to form an impurity channel that connects with the arc shape. Then, the eagle-beak shaped clamp pulls the impurity outward from inside the impurity channel. The direction of force applied during extraction is kept tangential to the clamping position. This ensures that the force on the impurity is stable, and the direction of extraction remains tangential to the channel direction. This avoids damage to the main body 110 of the bird's nest when the impurity passes through it. After removing the impurities in this way, the damage to the main body 110 of the bird's nest is reduced, resulting in a higher quality and commercial value for the bird's nest 100.

[0089] It should be noted that the clamping plates of the chuck 5212 are adapted to each other to form a wavy clamping surface. This increases the friction between the impurities and the clamping plates after they are clamped, thereby effectively removing the impurities.

[0090] like Figure 11 As shown, in this embodiment, the impurity grabbing mechanism 52 includes a hook structure 522, which includes a hook 5221 and a telescopic cylinder 5222. The telescopic cylinder 5222 is fixedly connected to the base 51, and its output end is fixedly connected to the hook 5221. The hook structure 522 is suitable for impurities partially located on the surface and having a certain area, such as grass roots. The hook 5221 can be inserted into the impurity and fixed to it. Then, the telescopic cylinder 5222 can be used to pull it back, thereby removing the impurity. This design helps to avoid damaging the bird's nest body 110 by using clamping methods, allowing some impurities to be directly hooked out. While achieving good removal effect, it also protects the integrity of the bird's nest 100.

[0091] It should be noted that the end of the hook 5221 forms a small barb, which can effectively fix the impurities after piercing them, thereby enabling subsequent hooking and pulling.

[0092] In this embodiment, the base 51 is provided with multiple fluid pipelines. The drive assembly 41 delivers corresponding fluids to the impurity grabbing mechanism 52, the spraying mechanism 53, and the suction mechanism 54 through each fluid pipeline. The separate arrangement of the fluid pipelines allows different fluids to enter the corresponding impurity removal mechanisms separately, thus enabling independent operation of each mechanism. This reduces the difficulty of coordinating the fluid pipelines, makes the structure more compact, and results in a more significant effect after assembly.

[0093] like Figure 11As shown, in this embodiment, the spraying mechanism 53 is a long tubular structure. A spray head 531 is provided at one end of the spraying mechanism 53 away from the base 51. A first brush head structure 532 is arranged around the fluid outlet of the spray head 531. The first brush head structure 532 allows the spray head 531 to brush the surface of the bird's nest 100, ensuring the fluid fully mixes with soluble impurities for subsequent suction and discharge. The spray head 531 is similar to a dental flosser or a pneumatic spray head, operating on the principle of a single gas and liquid outlet. After the liquid enters the nozzle, high-pressure gas pushes the liquid outward, providing dynamic energy to the liquid and directly removing some of the attached impurities.

[0094] like Figure 11 As shown, in this embodiment, the suction mechanism 54 is a long tubular structure. A suction head 541 is provided at one end of the suction mechanism 54 away from the base 51, and a second brush head structure 542 is arranged around the inlet end of the suction head 541. The second brush head structure 542 is used to brush some impurities out of the bird's nest 100 when suctioning impurities and fluids with the suction head 541, and then suck them away by the suction head 541. This reduces the pressure of subsequent impurity removal and effectively reduces other impurity components in the bird's nest 100.

[0095] like Figures 7 to 9 As shown, in this embodiment, the driving component 41 includes a robotic arm 411 and a mounting base 412. An identification mechanism 42 is provided on the mounting base 412. The identification mechanism 42 includes a collection structure 421, which is slidably connected to the robotic arm 411. The collection range of the collection structure 421 includes the setting area of ​​the impurity removal component 50. The robotic arm 411 can extend into the bird's nest 100 at multiple angles to remove impurities from different locations. This arrangement makes the angle at which the impurity-cleaning structure enters the bird's nest 100 more reasonable, reducing damage to the bird's nest 100 and effectively removing impurities from different locations, thus improving the quality of the bird's nest 100. It should be noted that the collection structure 421 can not only be used for collection within the setting area of ​​the impurity removal component 50, but also for real-time collection of impurity location and removal effect. This facilitates real-time impurity monitoring, ensures the removal effect, and allows for real-time control of the equipment's operation, enabling accuracy correction and adjustment.

[0096] like Figures 7 to 10As shown, in the technical solution of this embodiment, the identification mechanism 42 further includes a fixed base 422 and a sliding base 423. The fixed base 422 is fixedly connected to the fixed base 43 of the impurity removal robot 40, and the acquisition structure 421 is fixedly connected to the sliding base 423. The sliding base 423 is slidably connected to the fixed base 422. This arrangement enables the fixed installation of the acquisition structure 421 and adjustable precision control. That is, the position of the acquisition structure 421 is adjusted by sliding the sliding base 423. This adjustment method is more convenient, reduces the assembly and setup requirements of the complex acquisition structure 421, and is conducive to ensuring the acquisition accuracy of the acquisition structure 421.

[0097] like Figure 10 As shown, in this embodiment, the acquisition structure 421 includes a cylindrical lens 4211 and a camera body 4212. The camera body 4212 is fixedly connected to the sliding base 423, and the cylindrical lens 4211 and the camera body 4212 are detachably connected. The cylindrical lens 4211 facilitates lens replacement to adapt to different processing scenarios. This configuration offers stronger adaptability, maintainability, and interchangeability, and is more conducive to the stable operation of the equipment.

[0098] like Figure 10 As shown, in the technical solution of this embodiment, the identification mechanism 42 is provided with a limiting seat 424, which is fixedly connected to the fixed base 422. The limiting seat 424 is provided with a limiting hole, which is clearance-fitted with the cylindrical lens 4211. The limiting seat 424 is used to assemble the cylindrical lens 4211. On the one hand, it can share the gravity generated by the cylindrical lens 4211, avoiding accuracy problems in the connection between it and the camera body 4212 that would lead to problems in the acquisition effect. On the other hand, the limiting seat 424 allows the acquisition structure 421 to be installed in an approximately elongated shape, making its installation position more accurate and stable, providing a good acquisition foundation. This arrangement is compact and has a higher degree of fit.

[0099] It should be noted that the limiting seat 424 includes an arc-shaped base and an arc-shaped mating part. In use, after the cylindrical lens 4211 is connected to the camera body 4212 and then mated with the arc-shaped base, the arc-shaped mating part is then fitted with the side wall of the cylindrical lens 4211 and the base to form a limiting hole that fits with the circumferential clearance of the cylindrical lens 4211, thus fixing the connecting base and the arc-shaped mating part to complete the assembly.

[0100] like Figure 10As shown, in this embodiment, an adjustment structure 425 is provided on the side of the sliding seat 423 away from the cylindrical lens 4211. The adjustment structure 425 is slidably connected to the fixed seat 422, and the end of the adjustment structure 425 is fixedly connected to the sliding seat 423. The adjustment structure 425 is used to adjust the relative position of the sliding seat 423 and the fixed seat 422, thereby fine-tuning the position of the acquisition structure 421. Specifically, the adjustment structure 425 is a threaded rod, threadedly connected to the fixed seat 422, and the end of the threaded rod pushes against the sliding seat 423, thereby adjusting the sliding seat 423.

[0101] like Figure 10 As shown, in the technical solution of this embodiment, the fixed base 422 is provided with a sliding groove 4221, and the sliding base 423 is clearance-fitted with the sliding groove 4221. The sliding groove 4221 is provided to limit the sliding direction of the sliding base 423. Sliding can be achieved by adjusting the pushing of the structure 425. This setting further realizes the function of fine adjustment of the position of the acquisition structure 421, making the acquisition effect of the acquisition structure 421 better.

[0102] like Figures 7 to 10 As shown in the technical solution of this embodiment, the impurity removal robot 40 also includes an adjustment base 44, which is fixedly mounted on a fixed base 43. The adjustment base 44 is provided with a first adjustment surface 441 and a second adjustment surface 442 at an angle. The fixed base 422 is correspondingly provided with a first mating surface 4222 and a second mating surface 4223 at an angle. The first adjustment surface 441 and the second adjustment surface 442 are both located between the first mating surface 4222 and the second mating surface 4223. Adjustment screws are provided between the first adjustment surface 441 and the first mating surface 4222, and between the second adjustment surface 442 and the second mating surface 4223. By setting the adjustment screws, the distance between the first adjustment surface 441 and the first mating surface 4222, and between the second adjustment surface 442 and the second mating surface 4223, can be changed, thereby realizing the angular position adjustment of the fixed base 422. This setting is more conducive to adjusting the acquisition range of the acquisition structure 421, thereby improving the accuracy of the acquisition angle of the acquisition structure 421.

[0103] like Figures 7 to 9 As shown, in the technical solution of this embodiment, the robotic arm 411 is a six-axis robotic arm. The six-axis robotic arm enables the impurity removal robotic arm 40 to remove impurities from the bird's nest 100 from any angle. This configuration achieves targeted removal of impurities contained in the bird's nest 100, which can more completely protect the bird's nest 100 from damage, improve the quality of the bird's nest 100, and provide faster and more convenient impurity removal.

[0104] In this embodiment, the robotic arm 411 is equipped with a gas channel, a fluid channel, and a recovery channel. The processing components of the impurity removal assembly 50 can be detachably connected to the gas channel, fluid channel, and recovery channel, respectively. By integrating the gas channel, fluid channel, and recovery channel into the robotic arm 411, multiple additional channels are not required, resulting in higher integration, less space occupation, and higher efficiency in processing bird's nest 100.

[0105] Secondly, this application provides a method for identifying and removing impurities from bird's nest. This method is applied to the automatic bird's nest impurity removal equipment described above. The automatic bird's nest impurity removal equipment further includes the following steps:

[0106] S10, identify and collect information on multiple first impurities in bird's nest 100; specifically, collect impurities at various locations of bird's nest 100 through first collector 211, second collector 212 and third collector 213, and comprehensively judge the type and location of the impurities, and determine the corresponding method for removing the impurities at that location.

[0107] S20, the first impurity removal of bird's nest 100 is carried out; specifically, the first impurity removal is carried out by impurity removal robot 40.

[0108] S30, adjust the position and state of bird's nest 100; specifically, after the impurities on the first side of bird's nest 100 are removed, the rotating head 332 is rotated to flip bird's nest 100 over so that impurities on the second side of bird's nest 100 can be identified and removed.

[0109] S40, identify and collect information on multiple second impurities of bird's nest 100; specifically, the conveying structure 11 sends the flipped bird's nest 100 into the collection range of the second identification structure 21 to collect information on the impurities on the second side of bird's nest 100, that is, information collection on the second impurities.

[0110] S50, performs the second impurity removal of bird's nest 100; specifically, the first impurity removal is performed by the second impurity removal robot 40.

[0111] It should be noted that during the removal of impurities from one side of the bird's nest 100, the clamping position of the clamping mechanism 33 needs to be changed to expose the corresponding bird's nest corner 120 area for impurity removal. When scanning for impurities, the clamping mechanism 33 and the bird's nest 100 are in a non-clamping state to ensure complete collection of impurity information.

[0112] S60 collects the status information of bird's nest 100, checks whether the first and second impurities have been completely removed, identifies and collects information on the third impurity of bird's nest 100; checking whether the first and second impurities have been completely removed allows for a comprehensive judgment on whether impurity removal is complete, and statistical analysis and comparison are performed based on impurity information and removal effectiveness to further optimize the impurity removal operation. Specifically, the impurity identification process and comparison process are recorded, and the impact of the identification process on impurity removal is judged in conjunction with the actions of different impurity removal mechanisms during impurity removal. Through photos during impurity removal, the angle, force, and direction of the robotic arm's entry are judged, and whether the expected removal effect is achieved with the corresponding type or shape of impurities. Comprehensive data is recorded, and based on the type of impurity and removal effect, the optimal entry angle, force, and direction are determined so that subsequent impurity removal can better preserve the bird's nest.

[0113] The data processed in this way can also include environmental parameters, mechanical life parameters, physical parameters of the bird's nest, parameters of the fluids used, and so on.

[0114] S70, repeat step S10 to remove the first, second and third impurities from bird's nest 100.

[0115] Furthermore, in the technical solution of this embodiment, identifying and collecting information on multiple first impurities in bird's nest 100 also includes:

[0116] S21, Collect the location and morphology information of the first impurity;

[0117] When the conveying structure 11 conveys the bird's nest special clamp 30, at least 10 photos are taken when the bird's nest 100 passes through the collection range, and the photos are analyzed by a computer program to compare the types of common first impurities.

[0118] S22, determine the type of the first impurity; after comparison, confirm the type, quantity and spatial location of the impurity;

[0119] S23, Based on the information of the first impurity, determine the removal order of the first impurity. After analyzing the location, type, and characteristics of the impurities, confirm the quantity, location, removal method, and removal order of the impurities.

[0120] Confirming the quantity, location, removal method, and removal sequence of impurities includes confirming the mechanism used for impurity removal and the spatial coordinates of the mechanism's movement, as well as the corresponding coordinate actions, including the switching between the mechanisms used. After the bird's nest 100 moves from the identified position to the processable position, the action path of the impurity removal robot 40 is confirmed through the identification of the acquisition structure 421.

[0121] In the technical solution of this embodiment, the first impurity removal of bird's nest 100 also includes:

[0122] S31, adjust the impurity removal tools according to the removal order of the first impurities; rotate the robotic arm 411 so that the collection structure 421 collects the position information of the bird's nest 100, specifically the position information of the first impurity processed in the bird's nest 100; rotate the impurity removal component 50 so that the corresponding processing mechanism is in working condition. Specifically, when removing impurities from the bird's nest 100, priority is given to cleaning fine particles and soluble impurities. Fluid spraying is performed through the spray head 531 to dissolve or remove fine particles from the bird's nest, and then the solid impurities are removed through the clamping structure.

[0123] S32, spray cleaning solution onto bird's nest 100 to keep it moist. This reduces the hardness of the bird's nest, making it easier to remove impurities later. The cleaning solution also washes away fine particles such as dust, some feces, and eggshells, reducing the difficulty and workload of identifying impurities. After spraying, impurities and some fluid can be sucked up by the suction head 541 of the suction mechanism 54. Furthermore, when cleaning with the spray head 531, the first brush head structure 532 can be moved to scrape the bird's nest 100, effectively removing some surface impurities and shallowly buried impurities.

[0124] S33, using a clamping method, impurities are sequentially grabbed from inside the bird's nest 100 to outside the bird's nest 100. The clamping method mainly cleans the feathers remaining inside the bird's nest, including complete feathers, down feathers, and hair feathers. Specifically, the mechanical arm 411 drives the impurity removal component 50, so that the clamping head 5212 of the gripping structure 521 extends into the bird's nest 100. After the two clamping plates of the clamping head 5212 surround the impurities, the driving component 5211 causes the clamping head to close, clamping the impurities and pulling them out along a predetermined extraction path, so that the impurities are removed from the bird's nest 100.

[0125] S34 involves transferring and collecting impurities and adsorbing residual liquid from the surface of the bird's nest 100. After impurities such as down feathers and hair feathers are removed from the bird's nest 100, the robotic arm 411 drives the gripping structure 521 to transfer the impurities, carrying them to a container filled with cleaning liquid. This prevents the impurities from escaping and causing secondary contamination, and simultaneously cleans the gripping structure 521 to ensure that subsequent impurity removal is not affected. After impurity removal is completed, the suction head 541 of the suction mechanism 54 is used to suck up the remaining fluid. During suction, the second brush head structure 542 can be used to scrape the surface, allowing extremely fine impurities mixed with the fluid that cannot be gripped to be sucked away, thus effectively cleaning the surface.

[0126] It should be noted that, in order to facilitate cleaning, the bird's nest 100 will be slightly moistened in some areas before removing impurities, so that the bird's nest 100 is in a locally softened state, which makes it easier for impurities to detach and also prevents impurities from hardening and sticking to the bird's nest 100, which could lead to breakage or residue.

[0127] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0128] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0129] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An automatic impurity removing device for bird's nest, used for impurity removal of a bird's nest (100), the bird's nest (100) comprising a bird's nest body (110) and two opposite bird's horns (120), characterized in that, The automatic impurity removing device for bird's nest comprises: A conveying assembly (10) comprising a conveying structure (11) arranged along a first direction and a mounting panel (12) located on one side of the conveying structure (11); An identification assembly (20) fixedly arranged on the mounting panel (12) and used for collecting impurity information of the bird's nest (100); A bird's nest special clamp (30) detachably arranged on the conveying structure (11), the bird's nest special clamp (30) having a clamping state with the bird's angle (120), the bird's nest special clamp (30) comprising a base (31), a placing mechanism (32) and a clamping mechanism (33), the placing mechanism (32) comprising a stand column (321) and a telescopic arm (322), the telescopic arm (322) being provided with a plurality of supporting surfaces (323) adapted to different surfaces of the bird's nest body (110), the telescopic arm (322) being able to move horizontally relative to the stand column (321), the stand column (321) being fixedly connected with the base (31); the clamping mechanism (33) being movably connected with the base (31), the clamping mechanism (33) having the clamping state with the bird's angle (120) to adapt the bird's nest body (110) to different supporting surfaces (323), the clamping mechanism (33) comprising a clamping jaw (331), a rotating head (332) and a connecting rod structure (333), the clamping jaw (331) being fixedly connected with one end of the rotating head (332), the other end of the rotating head (332) being rotatably connected with the connecting rod structure (333), the connecting rod structure (333) being able to slide relative to the base (31), a pushing member (3313) being arranged between the clamping jaw (331) and the rotating head (332), the pushing member (3313) driving the clamping jaw (331) to switch between the clamping state and a loosening state; An impurity removing manipulator (40) comprising a driving assembly (41) used for driving an impurity removing assembly (50) to remove impurities of the bird's nest (100) in the clamping state in cooperation with the bird's nest special clamp (30). The impurity removing assembly (50) comprises a base (51), an impurity grabbing mechanism (52), a spraying mechanism (53) and a suction mechanism (54), the base (51) is detachably connected with the driving assembly (41); the impurity grabbing mechanism (52) is fixedly arranged on the base (51) and is used for grabbing impurities in the bird's nest (100); the spraying mechanism (53) is fixedly arranged on the base (51) and is used for spraying fluid to the bird's nest (100); and the suction mechanism (54) is fixedly arranged on the base (51) and is used for absorbing liquid mixture on the surface of the bird's nest (100). The impurity grabbing mechanism (52) comprises a grabbing structure (521), the grabbing structure (521) comprises a driving member (5211) and a chuck (5212), the driving member (5211) is used for driving the chuck (5212) to open and close, the driving member (5211) is a pneumatic cylinder, a connecting rod set (5213) is arranged between the pneumatic cylinder and the chuck (5212), an output end of the pneumatic cylinder is rotatably connected with the connecting rod set (5213), and the chuck (5212) is fixedly connected with an output end of the connecting rod set (5213).

2. The automatic impurity removing device for bird's nest according to claim 1, characterized in that, The identification assembly (20) comprises a plurality of identification structures (21) arranged in sequence along the first direction, so as to collect impurity information of the bird's nest (100) in multiple states, and the impurity removing manipulator (40) is multiple and is arranged between adjacent two identification structures (21), so as to remove impurities of the bird's nest (100) for multiple times.

3. The automatic impurity removing device for bird's nest as claimed in claim 2, characterized in that, The identification structure (21) comprises a first collector (211), a second collector (212) and a third collector (213), the first collector (211) is used for collecting impurity information of the bird's nest (100), and the second collector (212) and the third collector (213) are used for confirming impurity information of the bird's nest (100).

4. The automatic impurity removing device for bird's nest as claimed in claim 1, characterized in that, A buffer layer is arranged at a position where the clamping mechanism (33) contacts the bird's nest (100), and the buffer layer is made of an absorbing material.

5. The automatic impurity removing device for bird's nest as claimed in claim 1, characterized in that, The driving assembly (41) comprises a mechanical arm (411) and a mounting seat body (412), the mounting seat body (412) is provided with an identification mechanism (42), the identification mechanism (42) comprises a collecting structure (421), the collecting structure (421) is slidably connected with the mechanical arm (411), and a collection range of the collecting structure (421) comprises a setting area of the impurity removing assembly (50).

6. A method for identifying and removing impurities from bird's nest, characterized in that, The bird's nest impurity identification and removing method applies the automatic bird's nest impurity removing device according to any one of claims 1 to 5, and further comprises the following steps: S10, identifying and collecting information of multiple first impurities of the bird's nest (100); S20, performing first impurity removing on the bird's nest (100); S30, adjusting a position and a state of the bird's nest (100); S40, identifying and collecting information of multiple second impurities of the bird's nest (100); S50, performing second impurity removing on the bird's nest (100). S60 Collecting state information of the bird's nest (100), checking whether the first impurity and the second impurity are completely removed, identifying and collecting information of the third impurity of the bird's nest (100); S70 Repeating steps S10 to S69 to remove the first impurity, the second impurity and the third impurity from the bird's nest (100).

7. The method according to claim 6, wherein the step of removing the impurities is performed by using a centrifugal machine. The identifying and collecting information of the first impurity of the bird's nest (100) further comprises: S21 Collecting position information and shape information of the first impurity, S22 Judging the type of the first impurity, S23 Determining the removal sequence of the first impurity according to the information of the first impurity.

8. The method according to claim 7, wherein the step of removing the impurities is performed by using a centrifugal machine. The first impurity removal of the bird's nest (100) further comprises: S31 Adjusting the removal tool according to the removal sequence of the first impurity; S32 Spraying cleaning liquid to the bird's nest (100) to keep the bird's nest (100) in a wet state; S33 Using the clamping mode to sequentially grab the impurities from the inside of the bird's nest (100) to the outside of the bird's nest (100); S34 Performing the transfer and collection of the impurities and adsorbing the residual liquid on the surface of the bird's nest (100).

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