Grabbing and fixing device for poultry puncture injection

Abstract

The invention discloses a grasping and fixing device for poultry puncture injection. The grasping and fixing device comprises a support; the gripper frame is mounted on the bracket; a driving mechanism; a mechanical gripper; and a puncture device; wherein the mechanical gripper comprises a thumb part and a four-finger part arranged opposite to the thumb part, the thumb part and the four-finger part cooperatively act, so that a side surface gripping space for gripping the trunk of the poultry is formed between the thumb part and the four-finger part, and an unshielded puncture operation space is formed on the other side of the body of the poultry in a gripping state; the puncture device is arranged on one side of the puncture operation space and used for conducting puncture injection operation towards the poultry body after grabbing is executed. The grasping and fixing device for poultry puncture injection can simulate flexible grasping of a human hand, is adaptive to different poultry body types, and can efficiently and accurately cooperate with puncture injection actions.

Description

Technical Field

[0001] This invention relates to a gripping and fixing device for puncture and injection in poultry. Background Technology

[0002] In poultry farming, vaccination is a crucial step in preventing and controlling infectious diseases, ensuring flock health, and improving farming efficiency. Currently, puncture injections (such as subcutaneous or intramuscular injections) in poultry (e.g., chickens) primarily rely on manual operation. The operator needs to hold the poultry with their bare hands, stabilizing its body and wings, while using their other hand to hold the syringe for puncture. This method has several drawbacks: First, manual handling is inefficient and labor-intensive, making it difficult to meet the high-throughput operational demands of modern large-scale farms. Furthermore, the struggling behavior of poultry not only easily fatigues operators but also increases the occupational risk of being pecked or scratched.

[0003] Secondly, there is a conflict between the stability of the grip and animal welfare. To ensure a smooth injection, the operator may use excessive force, which can easily cause stress reactions or physical injuries (such as fractures or soft tissue contusions) in poultry; while holding too loosely will not effectively control the poultry, and their struggle at the moment of puncture may lead to inaccurate injection sites, needle scratches, incomplete vaccine dosage, or even needle breakage, which can have serious consequences, directly affecting the immunization effect and the safety of the poultry.

[0004] To address these issues, some automated or semi-automated restraint devices have emerged in the industry. For example, some devices use V-grooves or clamps to restrain the poultry's body. However, such devices often suffer from poor adaptability, making it difficult to effectively accommodate poultry of different breeds, ages, and sizes. More importantly, these restraint methods often fail to provide a standardized, undisturbed working space for the puncture procedure. The restraint mechanism itself may obstruct the optimal injection site or impede the needle path, making it difficult for automated puncture devices to work accurately and reliably.

[0005] Furthermore, existing gripping devices generally lack compliant adaptive capabilities, failing to sense and adjust gripping force like a human hand, thus hindering the minimization of harm to poultry while ensuring effective fixation. Simultaneously, hygiene and disease prevention issues are often overlooked during continuous operation, as the gripping components come into continuous contact with different types of poultry, posing a risk of cross-infection. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a gripping and fixing device for poultry puncture and injection that can simulate the flexible gripping of a human hand, adapt to different poultry body shapes, and efficiently and accurately coordinate with the puncture and injection action, thereby improving the overall efficiency and safety of immunization operations in the livestock industry.

[0007] The technical solution adopted by this invention to solve its technical problem is: A gripping and securing device for puncture and injection in poultry, comprising: support; The gripper frame is mounted on the bracket; Drive mechanism; Mechanical grippers; and Puncture device; The mechanical gripper includes a thumb and four fingers positioned opposite the thumb. The thumb and four fingers work together to form a lateral gripping space between them for gripping the bird's body. In the gripping state, an unobstructed piercing operation space is formed on the other side of the bird's body. The puncture device is positioned on one side of the puncture work space and is used to perform puncture and injection operations toward the poultry body after grasping.

[0008] Preferably, the mechanical gripper is an adaptive gripper, with its fingers including a flexible contact surface and a force sensor. The drive mechanism is communicatively connected to the force sensor and is configured to adjust the gripping force in real time based on sensor feedback.

[0009] Preferably, the system also includes a machine vision system comprising a camera and an image processing unit, configured to identify the poultry's posture, breed, and / or optimal injection site, and to generate control signals to adjust the gripping posture of the mechanical gripper and / or the puncture path of the puncture device.

[0010] Preferably, the puncture device includes a syringe, a puncture drive for driving the syringe needle to move linearly, and a follower mechanism for providing dynamic compensation during the puncture process, wherein the follower mechanism is a six-axis force-controlled robot.

[0011] Preferably, an automatic cleaning and disinfection unit is also included, the unit comprising a spray head or atomizing disinfector disposed near the mechanical gripper and puncture device, for cleaning and disinfecting the contact parts during work breaks.

[0012] Preferably, the thumb and / or four fingers of the mechanical gripper are modular in structure, allowing for quick disassembly and replacement to accommodate poultry of different sizes.

[0013] Preferably, the puncture device uses a safety needle with a protective sheath.

[0014] Preferably, the drive mechanism includes a gripper motor for driving the mechanical gripper to perform gripping and releasing actions, and a support motor for driving the gripper frame and the mechanical gripper as a whole to move relative to the support.

[0015] The beneficial effects of this invention are as follows: Through a biomimetic five-finger design, particularly the adaptive gripper combining force sensors and a flexible contact surface, the system simulates the human hand's encircling grip, effectively restraining poultry struggles. The system can adjust the gripping force in real time according to the poultry's body size, ensuring reliable fixation while significantly reducing physical damage (such as fractures and soft tissue contusions) and stress responses caused by excessive gripping, thus significantly improving animal welfare. The unique side-gripping design, while fixing one side of the poultry, naturally creates an unobstructed puncture working space on the other side. This provides a clear and reliable path for the entry and operation of the puncture device, fundamentally solving the problem of injection position deviation caused by obstruction from the fixation mechanism, ensuring the accuracy and consistency of each puncture. By employing a high-speed puncture drive or equipping a follow-up mechanism with dynamic compensation (such as a six-axis force-controlled robot), the system can counteract the poultry's struggling and shaking at the moment of needle insertion, ensuring the relative stability of the needle and tissue, thereby ensuring complete vaccine injection and effectively preventing the risk of needle scratches, bending, or breakage.

[0016] This invention seamlessly integrates the grasping, fixing, and puncture processes. A machine vision system intelligently identifies the poultry's posture and the optimal injection point, and a drive mechanism automatically executes the entire process, completely replacing inefficient and cumbersome manual operations. This significantly improves the efficiency of immunization operations and meets the production needs of modern large-scale farms. By integrating an automatic cleaning and disinfection unit, the gripper and needle can be automatically cleaned and disinfected between each operation cycle, effectively cutting off the transmission of diseases among poultry through the equipment and improving biosecurity levels. Through modular gripper design or fully adaptive gripping control, a single device can flexibly adapt to poultry of different breeds, ages, and sizes, greatly improving the equipment's versatility and application range, and reducing users' equipment investment costs. Attached Figure Description

[0017] Figure 1 This is an overall structural diagram of a portable location finder for a backpack according to the present invention; Figure 2 This is a partial structural diagram of a portable location finder for backpacks according to the present invention. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0019] Example See Figure 1-2 As shown, a gripping and fixing device for puncture and injection in poultry mainly includes a support 1, a gripper frame 2, a drive mechanism, a mechanical gripper 3, and a puncture device 4.

[0020] As the basic load-bearing structure of the entire device, bracket 1 is usually made of welded or bolted profiles and fixed to the automated production line or workbench to provide stable support for all other components.

[0021] The gripper frame 2 is mounted on the support 1 via a movable connection such as a guide rail slider or a rotary joint. The drive mechanism includes a support motor 11 and a gripper motor 21. The support motor 11 (such as a servo motor) is mounted on the support 1, and its output end is connected to the gripper frame 2 via a transmission component such as a lead screw or a synchronous belt. It is used to drive the entire gripper frame 2 and the mechanical gripper 3 mounted on it to move up and down, left and right, or forward and backward, thereby adjusting the gripping posture to connect with poultry on the conveyor belt. The gripper motor 21 (such as a stepper motor or a servo motor) is directly mounted on the gripper frame 2.

[0022] The mechanical gripper 3 is the core component that directly performs the gripping function. It is connected to the gripper motor 21 through a transmission mechanism and is driven by the motor to open and close. In this embodiment, the mechanical gripper 3 adopts a biomimetic five-finger design, specifically including a thumb 31 and four fingers 32 opposite to it. The thumb 31 and the four fingers 32 can be driven as a whole or designed to be driven independently. When the gripper motor 21 is activated, the thumb 31 and the four fingers 32 move towards each other, closing from the side of the bird to form an encircling side gripping space 4, stably restraining the bird's body. At the same time, on the other side of the bird's body, due to the specific configuration of the fingers, an unobstructed piercing operation space is naturally formed.

[0023] To enhance the intelligence and adaptability of the device, in a preferred embodiment of the present invention, the mechanical gripper 3 is an adaptive gripper. The contact surfaces of its fingers (thumb portion 31 and four fingers 32) are covered with flexible contact surfaces (silicone or polyurethane pads), and a force sensor (thin-film pressure sensor) is embedded inside. This force sensor is communicatively connected to a control system (such as a PLC or industrial computer), and the control system then forms a closed loop with the gripper motor 21. During operation, the system monitors the gripping force in real time. When the gripping force exceeds or falls below a safety threshold set for poultry of different weights, the control system immediately sends a command to the gripper motor 21 to fine-tune its rotation angle, thereby achieving real-time dynamic adjustment of the gripping force to ensure a firm grip without injuring the poultry.

[0024] More preferably, this device also integrates a machine vision system. This system includes at least one industrial camera and a processing unit (industrial computer) with built-in image processing algorithms. The industrial camera is installed at a location that can clearly capture images of the poultry grasping station. Its workflow is as follows: when poultry enters the station, the camera captures an image; the processing unit uses deep learning algorithms to identify the poultry's outline, posture, and breed in real time, and calculates the optimal grasping point and the three-dimensional coordinates of standard injection sites such as the chest or legs. Subsequently, the system generates control signals to guide the support motor 11 to adjust the final grasping posture of the mechanical gripper 3 and guide the puncture device 4 to align with the calculated optimal injection point, greatly improving the accuracy of the operation.

[0025] The puncture device 4 is disposed on one side of the puncture work space. In this embodiment, the puncture device 4 includes a syringe, a puncture drive (high-speed linear motor or electric push rod), and a follower mechanism. The syringe is used to hold the vaccine. The puncture drive is used to push the syringe needle to perform rapid linear puncture and retraction movements. To compensate for the struggle of poultry at the moment of needle puncture, the follower mechanism is preferably a six-axis force-controlled robot, which mounts the puncture drive and syringe at its end. During the puncture process, the six-axis robot can sense minute resistance and movement based on the force sensor on its wrist and perform millisecond-level micro-follow-up movements to ensure the relative stability of the needle and poultry tissue, thereby completing a precise and non-invasive injection.

[0026] Considering hygiene and disease prevention, this device is also equipped with an automatic cleaning and disinfection unit. This unit includes multiple spray heads and / or atomizing disinfectors, which are strategically arranged around the mechanical gripper 3 and the puncture device. After each injection cycle is completed and before the next poultry enters, the control system activates this unit to spray clean water to rinse away residues, followed by spraying atomized disinfectant (such as hydrogen peroxide or quaternary ammonium salt solution) to thoroughly disinfect contact parts such as the gripper fingertips and needles, effectively preventing cross-infection.

[0027] To enhance the equipment's adaptability to poultry of different sizes (from chicks to adult broilers), the thumb section 31 and the four-finger section 32 of the mechanical gripper 3 can be designed as a modular structure. Operators can quickly disassemble a set of fingers and replace them with larger or smaller finger kits using quick-connect couplings or magnetic interfaces, making the process simple and fast.

[0028] Furthermore, for operational safety reasons, the needles used in the puncture device are preferably safety needles with protective sheaths. In the non-injection state and during withdrawal after injection, the protective sheath automatically covers the needle tip to prevent accidental injury to the operator or unnecessary scratches to the poultry.

[0029] The workflow of this invention is as follows: Poultry are transported to fixed workstations by conveyor belt; The machine vision system identifies and locates the object, and guides the support motor to move the mechanical gripper to the optimal gripping point. The gripper motor drives the five fingers to close, and the force sensor ensures that poultry are secured with a safe and stable gripping force, while exposing the puncture work space; Under the precise control of a six-axis robot, the puncture device quickly and accurately completes puncture and injection. After the injection is completed, the puncture device is retracted, and the mechanical gripper opens to release the poultry; The automatic cleaning and disinfection unit is activated to clean and disinfect key components in preparation for the next work cycle.

[0030] The above embodiments of the present invention are not intended to limit the scope of protection of the present invention. The implementation of the present invention is not limited thereto. All other modifications, substitutions or alterations made to the above structure of the present invention based on the above content of the present invention, in accordance with ordinary technical knowledge and common practice in the field, without departing from the basic technical idea of ​​the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A gripping and fixing device for puncture and injection in poultry, characterized in that, include: support; The gripper frame is mounted on the bracket; Drive mechanism; Mechanical gripper; as well as Puncture device; The mechanical gripper includes a thumb and four fingers positioned opposite the thumb. The thumb and four fingers work together to form a lateral gripping space between them for gripping the bird's body. In the gripping state, an unobstructed piercing operation space is formed on the other side of the bird's body. The puncture device is positioned on one side of the puncture work space and is used to perform puncture and injection operations toward the poultry body after grasping.

2. The apparatus according to claim 1, characterized in that, The mechanical gripper is an adaptive gripper, with its fingers containing a flexible contact surface and a force sensor. The drive mechanism is communicatively connected to the force sensor and is configured to adjust the gripping force in real time based on sensor feedback.

3. The apparatus according to claim 1, characterized in that, It also includes a machine vision system comprising a camera and an image processing unit, configured to identify the poultry’s posture, breed and / or optimal injection site, and generate control signals to adjust the gripping posture of the mechanical gripper and / or the puncture path of the puncture device.

4. The apparatus according to claim 1, characterized in that, The puncture device includes a syringe, a puncture drive for driving the syringe needle to move linearly, and a follower mechanism for providing dynamic compensation during the puncture process, wherein the follower mechanism is a six-axis force-controlled robot.

5. The apparatus according to claim 1, characterized in that, It also includes an automatic cleaning and disinfection unit, which includes a spray head or atomizing disinfection device located near the mechanical gripper and puncture device, for cleaning and disinfecting contact parts during work breaks.

6. The apparatus according to claim 1, characterized in that, The thumb and / or four-finger section of the mechanical gripper has a modular structure, which can be quickly disassembled and replaced to accommodate poultry of different sizes.

7. The apparatus according to claim 1, characterized in that, The puncture device uses a safety needle with a protective sheath.

8. The apparatus according to any one of claims 1 to 7, characterized in that, The drive mechanism includes a gripper motor for driving the mechanical gripper to perform gripping and releasing actions, and a support motor for driving the gripper frame and the mechanical gripper as a whole to move relative to the support.

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