Multi-layer cage breeding egg picking and marking robot

Abstract

The invention belongs to the technical field of hatching egg picking and tracing, and discloses a multi-layer caged hatching egg picking and marking robot which comprises a walking mechanism, a picking mechanism used for picking hatching eggs in a multi-layer breeding cage is arranged on the walking mechanism, and the picking mechanism transfers the hatching eggs to a movable egg support on the walking mechanism; the picking mechanism comprises a mechanical arm which is arranged on the walking mechanism and has multiple degrees of freedom, a tail end holding mechanism used for picking the hatching eggs is arranged on the mechanical arm, and the mechanical arm drives the tail end holding mechanism to pick the hatching eggs in the breeding cage and then transfers the picked hatching eggs to a movable egg support; a code spraying machine is arranged on the walking mechanism and used for conducting code spraying and marking on the hatching eggs on the movable egg supports. According to the hatching egg picking and marking device, all the structures are tightly matched, hatching eggs can be automatically picked and marked, the defects that errors are prone to being made and tracing is difficult when the hatching eggs are manually picked and marked are overcome, and the efficiency and accuracy of picking and marking the hatching eggs and the poultry breeding accuracy and breeding efficiency are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of picking and tracing breeding eggs, and in particular relates to a multi-layer cage breeding egg picking and marking robot. Background Art

[0002] For multi-layer caged poultry, detailed pedigree information and egg-laying records need to be established during the breeding process in order to select excellent individuals. Establishing detailed egg-laying records is time-consuming and laborious. The main operation method of egg-laying records is to raise the breeding poultry "single cage single bird", and record the egg-laying time, egg-laying quantity and other information of the individual breeding poultry during the egg-picking process every day, and then enter it into the computer. When collecting breeding eggs, the information of the individual laying breeding poultry is marked on the eggshell with a marker. The disadvantage of this method is that it consumes a lot of time and energy, the recording scale is small, the recording process is easy to cause stress to the breeding poultry, and the high-intensity repetitive operation is prone to human errors, which is not conducive to accurate, stable and continuous recording. The accuracy of egg-laying information recording directly affects the selection of excellent individuals, so the automatic recording of individual egg-laying information of breeding poultry helps to reduce labor intensity and reduce recording errors.

[0003] Therefore, the present application discloses a multi-layer caged breeding egg picking and marking robot to solve the above-mentioned technical problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a multi-layer cage breeding egg picking and marking robot.

[0005] To achieve the above-mentioned object, the present invention provides a multi-layer caged breeding egg picking and marking robot, comprising a walking mechanism, on which a picking mechanism for picking up breeding eggs in multi-layered breeding cages is arranged, and the picking mechanism transfers the breeding eggs to a movable egg tray on the walking mechanism;

[0006] The picking mechanism comprises a mechanical arm arranged on the walking mechanism, the mechanical arm has several degrees of freedom of movement, and the mechanical arm is provided with an end-actuating mechanism for picking up the breeding eggs. The mechanical arm drives the end-actuating mechanism to pick up the breeding eggs in the breeding cage, and then transfers the picked breeding eggs to the movable egg tray;

[0007] The walking mechanism is provided with an inkjet printer for marking the eggs on the movable egg tray.

[0008] Preferably, the end-acting mechanism includes a connecting piece movably connected to the mechanical arm, and the connecting piece is provided with an electric suction cup, and the electric suction cup is used to pick up the breeding eggs in the breeding cage.

[0009] Preferably, a binocular camera is provided on the connecting piece, and the binocular camera is electrically connected to the electric suction cup for identifying and locating the breeding eggs in the breeding cage, so as to facilitate the electric suction cup to pick up and transfer the breeding eggs.

[0010] Preferably, the robotic arm includes a Y-axis track fixedly mounted on the walking mechanism, a longitudinally arranged Z-axis track is slidably arranged on the Y-axis track, an X-axis track is longitudinally slidably arranged on the Z-axis track, and the connecting member is horizontally slidably connected to the X-axis track.

[0011] Preferably, the movable egg tray comprises an egg tray seat fixedly mounted on the walking mechanism, an egg tray for placing the breeding eggs is slidably connected to the egg tray seat, and the breeding eggs picked up from the breeding cage by the electric suction cup are placed on the egg tray.

[0012] Preferably, a movable lead screw is rotatably connected to the egg tray seat, and the movable lead screw is transmission-connected to the egg tray slidably connected to the egg tray seat.

[0013] Preferably, a plurality of driving wheels are provided on the walking mechanism, and the driving wheels are drivingly connected to a driving motor provided in the walking mechanism, and two of the driving wheels are independently controlled to drive the walking mechanism to move.

[0014] Preferably, a plurality of universal wheels are arranged around the walking mechanism to facilitate the turning of the walking mechanism.

[0015] Preferably, a plurality of track pulleys are provided at the bottom end of the walking mechanism for fixing the travel track of the walking mechanism.

[0016] Preferably, the breeding cage comprises several layers of cages, and an inclined egg trough is provided under each layer of the cages for collecting the breeding eggs in the egg trough.

[0017] Compared with the prior art, the present invention has the following advantages and technical effects: the present invention discloses a multi-layer caged breeding egg picking and marking robot, wherein a walking mechanism can drive the entire device to move in a breeding farm, so that the device can be conveniently moved in the breeding farm and the breeding eggs in the placed cages can be conveniently picked up; a mechanical arm is arranged on the walking mechanism, so that the terminal holding mechanism can drive the terminal holding mechanism to move in space, identify and locate the breeding eggs through a binocular camera, pick up the breeding eggs at different positions in the breeding cage egg trough, and then transfer them to a movable egg tray; when the terminal holding mechanism is working, it is driven by the mechanical arm to move to the breeding egg position, and the breeding eggs are picked up by an electric suction cup, so that the picking is flexible and convenient, not easy to fall, and will not damage the breeding eggs; the breeding eggs picked up on the movable egg tray are marked by a coding machine, so that the identification and counting are convenient.

[0018] The various structures of the present invention cooperate closely, and can automatically pick up and mark breeding eggs. The breeding eggs are placed on a movable egg tray with the cooperation of the end-holding mechanism on the moving robotic arm, thereby ensuring successful picking up and loading of eggs. The robot can realize automatic recording of individual egg-laying information of breeding poultry, which helps to reduce labor intensity and reduce recording errors, thereby achieving the purpose of improving the accuracy and efficiency of poultry breeding. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 This is a front view of the multi-layer caged egg picking and marking robot of the present invention;

[0021] Figure 2 A top view of the multi-layer caged egg picking and marking robot of the present invention;

[0022] Figure 3 This is a front view of the mechanical arm of the present invention;

[0023] Figure 4 This is a front view of the movable egg tray of the present invention;

[0024] Figure 5 This is a schematic diagram of the connection of the end actuator of the present invention;

[0025] In the figure: 1. walking mechanism; 2. robotic arm; 3. movable egg tray; 4. binocular camera; 5. electric suction cup; 6. inkjet printer; 7. breeding cage; 11. universal wheel; 12. driving wheel; 13. track pulley; 21. X-axis track; 22. Y-axis track; 23. Z-axis track; 31. egg tray seat; 32. egg tray; 33. movable screw; 61. nozzle; 71. cage; 72. egg trough; 73. breeding eggs. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] In the prior art, caged poultry is widely promoted, and poultry cages have the following advantages:

[0029] Increase stocking density: Cage poultry can make full use of space, increase stocking density, and thus increase production per unit area.

[0030] Save feed: Cage-raised poultry have relatively less activity and their energy consumption is correspondingly reduced, so their daily feed intake is less than the standard for free-range farming, which can save feed costs.

[0031] Good epidemic prevention: The environment of caged poultry is relatively closed, which reduces contact with external pathogens, is conducive to epidemic prevention, and reduces the possibility of disease.

[0032] Easy to manage: Cage-raised poultry is easy to manage centrally, such as automatic feeding, watering, and manure cleaning, which can improve labor productivity and reduce labor costs.

[0033] Improve product quality: The growth environment of caged poultry is relatively controllable, which is conducive to standardized production and improved product quality and consistency.

[0034] Reference Figure 1-Figure 5 As shown, this embodiment provides a multi-layer caged breeding egg picking and marking robot, including a walking mechanism 1, on which a picking mechanism for picking up breeding eggs 73 in breeding cages 7 arranged in multiple layers is provided, and the picking mechanism transfers the breeding eggs 73 to a movable egg tray 3 on the walking mechanism 1;

[0035] The picking mechanism includes a mechanical arm 2 arranged on the walking mechanism 1, the mechanical arm 2 has a plurality of degrees of freedom of movement, and an end-actuating mechanism for picking up the breeding eggs 73 is arranged on the mechanical arm 2. The mechanical arm 2 drives the end-actuating mechanism to pick up the breeding eggs 73 in the breeding cage 7, and then transfers the picked breeding eggs 73 to the movable egg tray 3;

[0036] The walking mechanism 1 is provided with an inkjet printer 6 for marking the eggs 73 on the movable egg tray 3 with inkjet codes.

[0037] The present invention discloses a multi-layer caged breeding egg picking and marking robot. A walking mechanism 1 can drive the entire device to move in a breeding farm, making it convenient for the device to move in the breeding farm and to pick up breeding eggs 73 in a cage 71. A mechanical arm 2 is arranged on the walking mechanism 1, which can drive the end-actuator to move in space, identify and locate the breeding eggs through a binocular camera 4, pick up breeding eggs 73 at different positions in an egg trough 72 of a breeding cage, and then transfer them to a movable egg tray 3. When the end-actuator is working, it moves under the drive of the mechanical arm 2. When the egg 73 is at the position, the electric suction cup 5 is used to pick up the egg 73, which is flexible and convenient to pick up, not easy to fall, and will not damage the egg 73; the egg 73 picked up on the movable egg tray 3 is marked by the inkjet printer 6, so that the one-to-one correspondence between the egg 73 and the poultry is achieved, and the shortcomings of manual picking and marking of the egg 73 are avoided, which easily cause stress to the poultry, easy to make mistakes, and difficult to trace, and the automatic picking and intelligent marking of the egg 73 are achieved, and the efficiency and accuracy of picking and marking the egg 73 are improved, so as to achieve the purpose of improving the accuracy and efficiency of poultry breeding. The various structures of the present invention cooperate closely, and the egg 73 can be picked up automatically. The egg 73 is placed on the movable egg tray 3 with the cooperation of the end-holding mechanism on the mechanical arm 2 moved by the mechanical arm 2, so as to ensure successful picking and egg loading. The robot can achieve the purpose of reducing labor costs and improving production efficiency.

[0038] In one embodiment of the present application, the inkjet printer 6 is electrically connected to the robotic arm 2, and the nozzle 61 thereon performs contactless inkjet marking on the breeding eggs 73 in the movable egg tray 3, which is convenient for marking the breeding eggs 73 and facilitating the one-to-one marking of the breeding eggs 73 and the breeding poultry, avoiding the shortcomings of manual picking and marking that are prone to errors and difficult to trace, thereby realizing intelligent marking of the breeding eggs 73, improving the efficiency and accuracy of marking, and achieving the purpose of improving the accuracy and efficiency of poultry breeding.

[0039] In one embodiment of the present application, the inkjet printer 6 of this embodiment is a non-contact inkjet printer, which is a device that is controlled by software and performs marking without contacting the surface of the product. Its working principle is mainly that under the thrust formed by the oil pump, the ink enters the nozzle, and a crystal oscillator is installed in the nozzle. The ink is sprayed out by vibration to form fixed interval points. By using the processing and phase tracking of the CPU, some ink dots passing through the charging electrode are charged with different charges, and different deviations occur under the high-voltage magnetic field of several thousand volts, and fly out of the nozzle and fall on the surface of the moving egg to form a dot matrix character. The remaining ink dots are not charged, will not be deflected, and are directly injected into the recovery tank to be recycled and reused.

[0040] Non-contact inkjet printers have the following advantages:

[0041] Non-contact printing: The printing head does not directly contact the printed matter, is not easily scratched or worn, and will not cause indentations on the printed matter, making the printing quality more stable.

[0042] Quick drying: The ink sprayed is usually quick-drying, with fast printing speed and rapid drying, which can reduce production errors and improve production efficiency.

[0043] Strong adaptability: It can adapt to a variety of materials, such as paper, plastic, metal, etc., and can print various fonts, patterns and barcodes, suitable for packaging printing needs of multiple industries.

[0044] In a further optimized solution, the end actuator includes a connector movably connected to the mechanical arm 2, and an electric suction cup 5 is provided on the connector, and the electric suction cup 5 is used to pick up the breeding eggs 73 in the breeding cage 7. The connector is slidably connected to the mechanical arm 2, thereby driving the electric suction cup 5 installed on the connector to move. When the electric suction cup 5 moves to the top of the breeding eggs 73 in the breeding cage 7, the electric suction cup 5 is started, and the breeding eggs 73 with smooth surfaces are picked up by creating a vacuum negative pressure, and the posture of the breeding eggs 73 is adjusted and placed in the movable egg tray 3.

[0045] In one embodiment of the present application, the electric suction cup is a mechanical device used to absorb and transport various materials. Its working principle is based on vacuum technology, and it usually includes key components such as a motor, a vacuum pump and a suction cup. When the motor is started, the gear reducer is driven to rotate through the pulley, which in turn drives the vacuum pump to operate. The vacuum pump generates negative pressure inside the suction cup, so that the suction cup can be firmly adsorbed on the material to be transported; when the material needs to be released, the vacuum pump is stopped by the control mechanism, the negative pressure inside the suction cup disappears, and the material can be easily removed. The electric suction cup 5 has the following advantages:

[0046] Strong adsorption capacity: The electric suction cup 5 can generate enough negative pressure to firmly adsorb various materials, including glass, tiles, stone, etc.

[0047] Easy operation: The electric suction cup 5 is usually equipped with a simple control mechanism, such as a power switch, an air suction key and an air release key, etc., making the operation easier and faster.

[0048] Wide range of applications: The electric suction cup 5 is not only suitable for the construction industry, but also can be used in many fields such as wood processing, home appliance handling, metal manufacturing, etc.

[0049] Safe and reliable: The electric suction cup 5 adopts advanced vacuum technology and safety protection measures to ensure that no damage to materials or harm to the human body will occur during the handling process.

[0050] In one embodiment of the present application, the model of the electric suction cup 5 can refer to the XP50Z-24v micro electric suction cup or the onrobotVGC10 electric compact vacuum gripper, and its principle and usage method are prior art and will not be repeated here.

[0051] Further optimizing the scheme, a binocular camera 4 is provided on the connecting piece, and the binocular camera 4 is electrically connected to the electric sucker 5, which is used to identify and locate the eggs 73 in the breeding cage 7, so as to facilitate the electric sucker 5 to pick up and transfer the eggs 73. The binocular camera 4 is a stereoscopic vision system composed of two cameras, which can obtain the depth information of each pixel in the image, and is used to identify and locate the position information of the eggs 73, and transmit the position information of the eggs 73 to the upper computer of the device, and then control the mechanical arm 2 and the connecting piece on the mechanical arm 2 to move, so that the electric sucker 5 moves to the position of the eggs 73, so as to facilitate the positioning and picking of the eggs 73.

[0052] The working principle of the binocular camera 4 is based on the principle of parallax, which is similar to the way human eyes observe the world. Two cameras are placed at two independent positions to form a stereoscopic vision system, which can simultaneously capture two images of the same scene; due to the different positions and viewing angles of the two cameras, the positions of objects in their images will also be different. By calculating the difference in the pixels of the object in the two images, the binocular camera can obtain the depth information of the object, thereby realizing the perception and measurement of three-dimensional space.

[0053] The binocular camera 4 is mainly divided into two types: a passive binocular camera and an active binocular camera.

[0054] Passive stereo camera: It consists of two RGB lenses and does not rely on external light sources or structured light emitters. It only calculates depth information through the difference in images captured by the two cameras.

[0055] Active stereo camera: In addition to two cameras, it is also equipped with a structured light emitter. The structured light emitter projects a specific light pattern into the scene, and then the two cameras capture the deformation of these light patterns on the surface of the object, so as to calculate the depth information more accurately. The depth map structure of the active stereo camera is usually more complete.

[0056] The type of binocular camera 4 can be selected according to the requirements and is within the protection scope of this application.

[0057] In a further optimized solution, the robot arm 2 includes a Y-axis track 22 fixedly mounted on the walking mechanism 1, a longitudinally arranged Z-axis track 23 is slidably arranged on the Y-axis track 22, an X-axis track 21 is longitudinally slidably arranged on the Z-axis track 23, and a connecting piece is horizontally slidably connected to the X-axis track 21. The X-axis track 21, the Y-axis track 22 and the Z-axis track 23 form a set of kinematic pairs, which can drive the end actuator to move in 3D space, so as to facilitate the positioning of the breeding eggs 73.

[0058] In one embodiment of the present application, the nozzle 61 of the inkjet printer 6 is designed on the X-axis track 21 to facilitate inkjet coding of the picked-up eggs 73 .

[0059] In one embodiment of the present application, independently controlled motors are respectively provided at the ends of the X-axis rail 21, the Y-axis rail 22 and the Z-axis rail 23 to provide power for the movement of the Y-axis rail 22 on the Z-axis rail 23, the X-axis rail 21 on the Z-axis rail 23 and the connecting part on the X-axis rail 21.

[0060] In one embodiment of the present application, the motor is preferably a stepper motor, which converts electrical energy into mechanical energy based on the principle of electromagnetics. Each time a pulse signal is input, the rotor of the stepper motor will rotate a fixed angle or move forward one step. The output angular displacement or linear displacement is proportional to the number of input pulses, and the rotation speed is proportional to the pulse frequency. When current passes through the stator winding, a magnetic field is generated, which interacts with the permanent magnets or reactive poles on the rotor to generate an electromagnetic torque to rotate the rotor. Therefore, the rotation angle, speed and direction of the stepper motor can be precisely controlled by controlling the number, frequency and phase sequence of the input pulses.

[0061] Further optimization scheme, the movable egg tray 3 includes an egg tray seat 31 fixedly mounted on the walking mechanism 1, and an egg tray 32 for placing the breeding eggs 73 is slidably connected to the egg tray seat 31, and the breeding eggs 73 picked up from the breeding cage 7 by the electric suction cup 5 are placed on the egg tray 32; the egg tray seat 31 is rotatably connected with a movable lead screw 33, and the movable lead screw 33 is transmission-connected to the egg tray 32 slidably connected to the egg tray seat 31. The egg tray seat 31 is mounted on the walking mechanism 1, and a movable lead screw 33 is arranged inside it. The movable lead screw 33 adjusts the position of the egg tray 32 under the drive of the stepping motor, so as to facilitate the reception of the breeding eggs 73 picked up by the electric suction cup 5.

[0062] In one embodiment of the present application, the egg tray 32 is provided with a plurality of grooves for fixing and placing the breeding eggs 73 .

[0063] In one embodiment of the present application, a plurality of egg trays 32 can be stored on the walking mechanism 1. After the egg trays 32 on the lower layer are full, new egg trays 32 can be placed on the full egg trays 32 to increase the number of eggs 73 that can be picked up and improve the efficiency of picking up the eggs 73.

[0064] In one embodiment of the present application, the egg tray 32 is made of hard plastic.

[0065] Further optimization scheme, a plurality of driving wheels 12 are arranged on the walking mechanism 1, and the driving wheels 12 are connected to the driving motor arranged in the walking mechanism 1 by transmission, and the two driving wheels 12 are independently controlled to drive the walking mechanism 1 to move; a plurality of universal wheels 11 are arranged around the walking mechanism 1 to facilitate the steering of the walking mechanism 1; a plurality of track pulleys 13 are arranged at the bottom of the walking mechanism 1 to fix the travel track of the walking mechanism 1. The two driving motors can independently drive the driving wheels 12 to rotate, and provide power for the movement of the walking mechanism 1; and when steering is required, the two driving motors achieve steering at different speeds; a plurality of universal wheels 11 are arranged around the walking mechanism 1 to facilitate the steering of the walking mechanism 1, and the track pulley 13 is arranged at the bottom of the walking mechanism 1 to fix the travel track of the walking mechanism 1.

[0066] In one embodiment of the present application, a power module and a control module are provided in the walking mechanism 1. The power module supplies power to the device so that the device can be used normally; and the control module serves as the control core of the device and controls all operations of the device.

[0067] Further optimizing the scheme, the breeding cage 7 includes several layers of cages 71, and an inclined egg trough 72 is arranged under each layer of cages 71, which is used to collect the breeding eggs 73 in the egg trough 72. The breeding cage 7 of this embodiment is provided with three layers of cages 71 to form a three-layer breeding space; the egg trough 72 of the cage 71 is inclined, so that the breeding eggs 73 in the breeding space roll outward, which is convenient for the electric suction cup 5 of this application to pick up.

[0068] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0069] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-layer caged egg picking and marking robot, characterized in that: It comprises a walking mechanism (1), on which a picking mechanism for picking up breeding eggs (73) in breeding cages (7) arranged in multiple layers is arranged, and the picking mechanism transfers the breeding eggs (73) to a movable egg tray (3) on the walking mechanism (1); The picking mechanism comprises a mechanical arm (2) arranged on the walking mechanism (1), the mechanical arm (2) having a plurality of degrees of freedom of movement, and the mechanical arm (2) is provided with an end-actuating mechanism for picking up the breeding eggs (73). The mechanical arm (2) drives the end-actuating mechanism to pick up the breeding eggs (73) in the breeding cage (7), and then transfers the picked breeding eggs (73) to the movable egg tray (3); The walking mechanism (1) is provided with an inkjet printer (6) for marking the breeding eggs (73) on the movable egg tray (3) with inkjet printer codes.

2. A multi-layer caged egg picking and marking robot according to claim 1, characterized in that: The end-actuating mechanism comprises a connecting piece movably connected to the mechanical arm (2), and an electric suction cup (5) is provided on the connecting piece. The electric suction cup (5) is used to pick up the breeding eggs (73) in the breeding cage (7).

3. A multi-layer caged egg picking and marking robot according to claim 2, characterized in that: A binocular camera (4) is provided on the connecting piece, and the binocular camera (4) is electrically connected to the electric suction cup (5) for identifying and locating the breeding eggs (73) in the breeding cage (7), so as to facilitate the electric suction cup (5) to pick up and transfer the breeding eggs (73).

4. A multi-layer caged egg picking and marking robot according to claim 2, characterized in that: The mechanical arm (2) comprises a Y-axis track (22) fixedly mounted on the walking mechanism (1), a longitudinally arranged Z-axis track (23) being slidably arranged on the Y-axis track (22), an X-axis track (21) being longitudinally slidably arranged on the Z-axis track (23), and the connecting member being horizontally slidably connected to the X-axis track (21).

5. The multi-layer caged egg picking and marking robot according to claim 2, characterized in that: The movable egg tray (3) comprises an egg tray seat (31) fixedly mounted on the walking mechanism (1), an egg tray (32) for placing the breeding eggs (73) being slidably connected to the egg tray seat (31), and the breeding eggs (73) picked up from the breeding cage (7) by the electric suction cup (5) are placed on the egg tray (32).

6. A multi-layer caged egg picking and marking robot according to claim 5, characterized in that: A movable lead screw (33) is rotatably connected to the egg tray seat (31), and the movable lead screw (33) is transmission-connected to the egg tray (32) slidably connected to the egg tray seat (31).

7. The multi-layer caged egg picking and marking robot according to claim 5, characterized in that: The walking mechanism (1) is provided with a plurality of driving wheels (12), the driving wheels (12) being drivingly connected to a driving motor arranged in the walking mechanism (1), and the two driving wheels (12) being independently controlled to drive the walking mechanism (1) to move.

8. The multi-layer caged egg picking and marking robot according to claim 7, characterized in that: A plurality of universal wheels (11) are arranged around the walking mechanism (1) to facilitate the turning of the walking mechanism (1).

9. The multi-layer caged egg picking and marking robot according to claim 7, characterized in that: A plurality of track pulleys (13) are provided at the bottom end of the walking mechanism (1) for fixing the travel track of the walking mechanism (1).

10. The multi-layer caged egg picking and marking robot according to claim 1, characterized in that: The breeding cage (7) comprises a plurality of layers of cages (71), and an inclined egg trough (72) is arranged below each layer of the cages (71) for collecting the breeding eggs (73) in the egg trough (72).

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