An end effector for flat rearing poultry farm egg collection and its operation method

Abstract

This invention relates to an end effector for collecting poultry eggs in floor-raised breeding farms and its operating method. The end effector includes a support frame, a drive motor, and a first movable support, a fixed support, and a second movable support arranged sequentially along the circumference. Soft fingers are installed on the first movable support, the fixed support, and the second movable support. A driving bevel gear is fixedly mounted on the output shaft of the drive motor. The driving bevel gear meshes with an upper driven bevel gear and a lower driven bevel gear. The upper driven bevel gear is fixed relative to the first movable support, and the lower driven bevel gear is fixed relative to the second movable support. The fixed support is fixed relative to the support frame. This invention utilizes a coaxial reversing bevel gear system to achieve switching between "grabbing" and "turning" functions, solving the problem of collecting buried eggs in floor-raised environments. It has strong environmental adaptability and low noise, employing a tendon rope drive combined with a base chamber design, keeping the power source away from the harsh bedding environment and avoiding mechanical jamming.

Description

Technical Field

[0001] This invention relates to the field of agricultural robot technology, and in particular to an end effector for agricultural robots, specifically an end effector for collecting poultry eggs in free-range poultry farms and its operating method. Background Technology

[0002] With the development of robotics technology, in farms, the picking of poultry eggs has also been achieved by designing corresponding end effectors, thus saving manpower.

[0003] However, in the free-range poultry farming model, the eggs are scattered on a thick bedding material made of rice husks, feathers and feces. Some eggs are even buried in the bedding material, making them impossible to pick up directly from the surface, which creates an obstacle for the robot to pick them up.

[0004] Existing end effectors have significant shortcomings when applied to floor-raised poultry farming scenarios: ordinary grippers (such as industrial three- or two-claw grippers) can only grasp visible objects. Once eggs are buried in bedding, manual intervention or additional equipment is required to turn them over, which is inefficient; traditional rigid linkage grippers can easily cause debris to get into the joint hinges and become stuck when turning over the bedding. Furthermore, poultry are extremely sensitive to environmental noise, and the airflow noise and pump sound of existing pneumatic grippers during inflation and deflation can easily startle the poultry, leading to a significant drop in egg production.

[0005] Patent application CN106417084 A proposes an automatic egg-picking method for poultry houses. This method uses a vision system to locate and align eggs on the ground, then picks them up using a suction method and transports them through a pipe to a special spiral track-type egg storage device. However, in the environment of floor-raised breeding ducks, eggs are often buried in bedding, and the suction-based picking method is easily interfered with by the bedding, resulting in a very high failure rate. Furthermore, the suction cups are easily clogged by debris. Patent application CN110915721 A proposes setting a closable buffer platform below the picking device to catch eggs that accidentally slip from the robotic arm, preventing breakage. This method essentially adds a safety net to the unstable picking process, but it does not solve the fundamental problem of unstable picking and easy slippage, nor does it address how to achieve effective picking in complex bedding environments. Therefore, it cannot meet the practical needs of efficient and damage-free egg picking in floor-raised breeding poultry houses. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an end effector and its operating method for collecting poultry eggs in floor-raised poultry farms. This device can reach into the bedding to find buried poultry eggs and is better adapted to the complex bedding environment of floor-raised poultry houses.

[0007] This invention is achieved through the following technical solution: providing an end effector for collecting poultry eggs in a floor-raised poultry farm, comprising a support frame, a drive motor mounted on the support frame, and a first movable support, a fixed support, and a second movable support arranged sequentially along the circumference. Soft fingers are respectively mounted on the first movable support, the fixed support, and the second movable support, each soft finger forming an actuation assembly. A drive bevel gear is fixedly mounted on the output shaft of the drive motor. The drive bevel gear meshes with an upper driven bevel gear and a lower driven bevel gear, the axial directions of which are aligned with the length direction of the soft fingers. The upper driven bevel gear is fixed relative to the first movable support, the lower driven bevel gear is fixed relative to the second movable support, and the fixed support is fixed relative to the support frame.

[0008] The design of this scheme allows the drive motor to rotate the active bevel gear, thereby causing the first and second movable supports to simultaneously move closer to or further away from the fixed support. This allows for adjustment of the spacing between the three soft fingers. When the spacing between the three soft fingers is adjusted to be smaller, they can be used as rake teeth to turn over the buried poultry eggs from the bedding. When the spacing between the three soft fingers is consistent, the drive mechanism of the soft fingers will move to pick up the poultry eggs.

[0009] As an optimization, a frame is fixed to the support frame. The output shaft of the drive motor passes laterally through the side plate of the frame and is rotatably connected to the side plate. Both the upper and lower driven bevel gears are located between the top and bottom plates of the frame. An upper driven wheel shaft is fixedly connected to the center of the upper driven bevel gear, passes through the top plate of the frame, and is rotatably connected to it. The upper driven wheel shaft is also fixedly connected to a first movable support. Similarly, a lower driven wheel shaft is fixedly connected to the center of the lower driven bevel gear, passes through the bottom plate of the frame, and is rotatably connected to it. The lower driven wheel shaft is also fixedly connected to a second movable support. This optimized design, by providing a frame, facilitates support for the motor's output shaft, improves stability, and makes it easier to install the upper and lower driven wheel shafts.

[0010] As an optimization, the upper driven bevel gear and the lower driven bevel gear are coaxially arranged. A first support plate is fixedly mounted on the first movable support and sleeved on the lower driven wheel shaft, and the first support plate is rotatably connected to the lower driven wheel shaft. A second support plate is fixedly mounted on the second movable support and sleeved on the upper driven wheel shaft, and the second support plate is rotatably connected to the upper driven wheel shaft. This optimized solution improves the stability of the first and second movable supports by setting the first and second support plates. Furthermore, it utilizes the lower driven wheel shaft to provide support for the first movable support and the upper driven wheel shaft to provide support for the second movable support, thus achieving the dual function of the upper and lower driven wheel shafts.

[0011] As an optimization, a base compartment with an opening at the lower end is also included. The base compartment is fixedly connected to the support frame. The drive motor, the first movable support, the fixed support, the second movable support, the driving bevel gear, the upper driven bevel gear, and the lower driven bevel gear are all located inside the base compartment. The soft finger extends downward out of the base compartment. This optimized solution, by setting up a base compartment to accommodate all drive and transmission components, effectively prevents bedding, feathers, and dust from entering the poultry farm environment, thus avoiding movement stagnation.

[0012] This solution also provides a method for operating the aforementioned end effector for collecting poultry eggs in free-range breeding farms, including the following aspects: a. Grasping mode: The first and second movable supports are rotated by the drive motor, so that the three soft fingers are evenly distributed in the circumference. When the robot with the end effector installed detects the egg, the drive mechanism of each soft finger is activated, the tendon rope is tightened, and each soft finger bends inward under the tension of the tendon rope to grasp the egg. b. Material turning mode switching: When it is necessary to search for buried eggs, the drive motor drives the first movable support and the second movable support to rotate, so that the first movable support and the second movable support move closer to the fixed support, reducing the distance between the three soft fingers and making the three soft fingers resemble rake teeth. c. Turning operation: The end effector, driven by the robotic arm, inserts its soft fingers into the bedding material and uses the soft fingers as rake teeth to turn the eggs buried in the bedding material to the surface of the bedding material.

[0013] The beneficial effects of this invention are as follows: by using a set of coaxial reversing bevel gears, the switching between the two functions of "grabbing" and "turning over" is realized, which solves the problem of picking up buried eggs in the floor-raising environment; by setting up a base chamber, the power source is kept away from the harsh bedding environment, avoiding mechanical jamming; at the same time, high-noise pneumatic components are avoided, reducing the stress response of breeding poultry. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the present invention without the base compartment structure; Figure 3 This is a schematic diagram showing the relative positions of the first movable support and the fixed support. Figure 4 for Figure 2 Enlarged view of a portion of the image; Figure 5 This is a 3D view after removing the base compartment; As shown in the figure: 1. Support frame, 2. Chassis, 3. Drive motor, 4. Second movable support, 5. Soft finger, 6. Fixed support, 7. Driven bevel gear, 8. Frame, 9. Second support plate, 10. Upper driven wheel axle, 11. Upper connecting plate, 12. Upper driven bevel gear, 13. Lower driven bevel gear, 14. Lower driven wheel axle, 15. Lower connecting plate, 16. First movable support, 17. First support plate, 18. Tendon rope, 19. Rope winding motor, 20. Base compartment, 21. Support block. Detailed Implementation

[0015] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0016] like Figure 1 The diagram illustrates an end effector for collecting poultry eggs in a free-range breeding farm. It includes a base chamber 20, a support frame 1, a drive motor 3 mounted on the support frame, and a first movable support 16, a fixed support 6, and a second movable support 4 arranged sequentially along the circumference. Soft fingers 5 are respectively mounted on the first movable support 16, the fixed support 6, and the second movable support 4, forming an actuation assembly. The length direction of each soft finger is vertical. In use, the soft fingers on the first movable support 16 and the second movable support 4 are movable soft fingers, while the soft fingers on the fixed support 6 are fixed soft fingers.

[0017] The soft finger in this embodiment uses a tendon cord pulling structure from the prior art. The body of the soft finger is made of flexible material, and the back of the finger has equally spaced serrated induced bending notches. An internal tendon cord guide channel is provided. The driving mechanism of the soft finger includes a winding motor 19, a winding wheel fixed on the output shaft of the winding motor, and a tendon cord 18 wound on the winding wheel. The winding motor, winding wheel, and tendon cord form a gripping drive module. The tendon cord passes vertically downward through the soft finger, with its lower end fixed to the fingertip. When the winding motor rotates forward, it winds the tendon cord, tightening it and causing the lower end of the soft finger to bend inward, facilitating the gripping action. When the winding motor rotates in reverse, it unwinds the tendon cord, and the soft finger returns to a vertical state under its own elasticity. To facilitate installation, in this embodiment, the soft finger winding motor on the fixed support is fixed to the upper end of the support frame, the soft finger winding motor on the first movable support is fixed to the upper end of the first movable support, and the soft finger winding motor on the second movable support is fixed to the upper end of the second movable support. By adjusting the installation position of each winding motor, the distance between the winding motor and the lower end of the soft finger is increased, reducing the influence of the padding material on each winding motor and the tendon rope winding position.

[0018] The output shaft of the drive motor 3 is fixedly equipped with a driving bevel gear 7, which meshes with an upper driven bevel gear 12 and a lower driven bevel gear 13, which are symmetrically arranged. The upper driven bevel gear 12 and the lower driven bevel gear 13 are coaxially arranged, with their axes both arranged vertically, and the axial directions of the upper driven bevel gear 12 and the lower driven bevel gear 13 are consistent with the length direction of the soft finger 5. The upper driven bevel gear 12 is fixed relative to the first movable support 16, and the lower driven bevel gear 13 is fixed relative to the second movable support 4. The fixed support 6 is fixed relative to the support frame 1.

[0019] When the drive motor 3 drives the active bevel gear 7 to rotate, the active bevel gear drives the upper driven bevel gear 12 and the lower driven bevel gear 13 to rotate through the meshing of their teeth. The upper driven bevel gear 12 and the lower driven bevel gear 13 rotate in opposite directions. The upper driven bevel gear 12 and the lower driven bevel gear 13, in turn, drive the first movable support 16 and the second movable support to rotate, thereby adjusting the distance between the first movable support, the second movable support, and the fixed support. This allows for switching between the picking and turning modes, and simultaneously adjusts the circumferential phase of the soft fingers on the first and second movable supports, enabling the soft fingers to switch between a "comb-like configuration" and a "grasping configuration." In the comb-like configuration, the total included angle of the three soft fingers in the circumferential direction is 40°–60°, forming a single-sided parallel comb-like structure. In the grasping configuration, the three soft fingers are evenly distributed at 120° intervals in the circumferential direction, used to grasp exposed eggs.

[0020] A frame 8 is fixedly mounted on the support frame 1. The frame includes a top plate, side plates, and a bottom plate fixedly connected as one piece. The side plates are perpendicular to the output shaft of the drive motor 3. The output shaft of the drive motor 3 passes through the side plates of the frame 8 laterally and is rotatably connected to the side plates of the frame via bearings. The side plates of the frame provide support for the output shaft of the drive motor, reducing swaying and improving stability. To further improve stability, a base plate 2 is fixedly mounted at the bottom of the support frame in this embodiment. An upwardly extending support block 21 is fixedly mounted on the base plate 2. The support block 21 provides support for the end of the frame away from the drive motor and the fixed support. The fixed support is fixedly connected to the frame by bolts. As an optimized solution, in this embodiment, the top plate and bottom plate of the frame are respectively inserted into the fixed support, and the fixed support is fixedly connected to the top plate and the top plate by bolts along the vertical direction.

[0021] Both the upper driven bevel gear 12 and the lower driven bevel gear 13 are located between the top plate and the bottom plate of the frame. The upper driven bevel gear 12 is coaxially fixed to the center of the upper driven wheel shaft 10. The upper driven wheel shaft 10 passes upward through the top plate of the frame and is rotatably connected to the top plate of the frame through a bearing. The upper driven wheel shaft 10 is fixedly connected to the first movable support 16. In this embodiment, an upper connecting plate 11 is fixedly provided on the first movable support. The upper driven wheel shaft 10 passes through the upper connecting plate 11 and is fixedly connected to the upper connecting plate 11. When the upper driven wheel shaft 10 rotates with the upper driven bevel gear, it drives the upper connecting plate to rotate, thereby realizing the rotation of the first movable support.

[0022] A lower driven bevel gear 13 is coaxially fixed to a lower driven shaft 14. The lower driven shaft 14 passes downward through the bottom plate of the frame and is rotatably connected to the bottom plate of the frame via a bearing. The lower driven shaft 14 is fixedly connected to the second movable support 4. In this embodiment, a lower connecting plate 15 is fixedly provided on the second movable support. The lower driven shaft 14 passes through the lower connecting plate 15 and is fixedly connected to the lower connecting plate 15. When the lower driven shaft 14 rotates with the lower driven bevel gear, it drives the lower connecting plate to rotate, thereby realizing the rotation of the second movable support.

[0023] A first support plate 17 is fixedly mounted on the first movable support 16 and sleeved on the lower driven wheel axle 14. The first support plate 17 and the lower driven wheel axle 14 are rotatably connected by bearings. The first support plate is parallel to the upper connecting plate and is located directly below the upper connecting plate. In this embodiment, the first support plate is located below the frame, increasing the distance between it and the upper connecting plate, which further improves the stability of the first movable support when rotating.

[0024] A second support plate 9 is fixedly mounted on the second movable support 4 and sleeved on the upper driven wheel shaft 10. The second support plate 9 and the upper driven wheel shaft 10 are rotatably connected by bearings. The second support plate is parallel to the lower connecting plate and is located directly above the lower connecting plate. In this embodiment, the second support plate is located above the frame, increasing the distance between it and the lower connecting plate, which further improves the stability of the second movable support when rotating.

[0025] In this embodiment, the base chamber 20 has an opening at its lower end, and the top of the base chamber has a connection hole for connecting to the robotic arm. The side wall of the base chamber 20 is fixedly connected to the support frame 1. The drive motor 3, the first movable support 16, the fixed support 6, the second movable support 4, the driving bevel gear 7, the upper driven bevel gear 12, and the lower driven bevel gear 13 are all located inside the base chamber 20. The soft finger 5 extends downward out of the base chamber 20. By setting up the base chamber, the jamming caused by the padding material entering the transmission components is reduced.

[0026] The operating method of the end effector for collecting poultry eggs in a free-range breeding poultry farm, as described in this embodiment, includes the following aspects: a. Grasping mode: The drive motor 3 drives the first movable support 16 and the second movable support 4 to rotate, so that the three soft fingers 5 are evenly distributed in the circumference and spaced 120° apart from each other, ready to grasp the visible egg. When the robot with the end effector installed recognizes the egg, it drives the end effector to move above the egg. The drive mechanism of each soft finger is activated, the rope winding motor rotates in the forward direction, and the tendon rope 18 is tightened. Under the tension of the tendon rope 18, each soft finger bends inward at the same time to form a self-centering envelope space, so as to achieve a non-destructive and compliant grasp of the egg.

[0027] b. Material turning mode switching: When it is necessary to search for buried eggs, the drive motor 3 drives the first movable support 16 and the second movable support 4 to rotate, so that the first movable support 16 and the second movable support 4 move closer to the fixed support 6, reducing the distance between the three soft fingers. When the angle between the two movable soft fingers and the fixed soft fingers is reduced to about 50°, it stops. At this time, the three soft fingers tend to be arranged side by side, forming a rake-like configuration.

[0028] c. Turning operation: The end effector, driven by the robotic arm, inserts soft fingers into the bedding material. Using the soft fingers as rake teeth, it performs a horizontal turning action. The bedding material flows through the gaps between the soft fingers, and the eggs are blocked by the soft fingers and turned to the surface of the bedding material, thereby turning out the eggs buried in the bedding material.

[0029] The present invention employs a variable structure transmission mechanism for transmission between the drive motor and the movable support. The drive motor and the variable structure transmission mechanism form an attitude adjustment drive module. The variable structure transmission mechanism uses a coaxial reversing bevel gear system to drive two movable soft fingers to rotate synchronously in opposite directions relative to a fixed soft finger at equal angles, allowing the three-finger configuration to switch between a "120° encircling grasping mode" and a "comb-like material turning mode." The actuator includes three independently driven soft fingers based on tendon ropes, used to achieve flexible enveloping grasping and material turning separation operations. This actuator can first turn over buried eggs in complex bedding environments before completing flexible retrieval, integrating the functions of turning and grasping. It avoids the high noise problem of pneumatic devices and has advantages such as a sealed structure, anti-jamming, efficient operating logic, and low stress on breeding poultry, significantly improving the automated collection efficiency of poultry eggs in floor-raised breeding farms.

[0030] This invention features a highly integrated operating mode, utilizing a coaxial reversing bevel gear system to switch between "grabbing" and "feed turning" functions, solving the problem of retrieval of buried eggs in floor-rearing environments. It boasts strong environmental adaptability and low noise, employing a tendon rope drive combined with a base chamber design, keeping the power source away from the harsh bedding environment and avoiding mechanical jamming; it also avoids high-noise pneumatic components, reducing stress on breeding poultry. Precise transmission synchronization is achieved through the coaxial reversing bevel gear system, ensuring perfectly symmetrical and synchronized opening and closing of the two movable fingers. Only one attitude-adjusting motor is needed to achieve precise configuration switching, and the control logic is simple and reliable.

[0031] Of course, the above description is not limited to the examples above. Technical features not described in this invention can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this invention and are not intended to limit this invention. This invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention do not depart from the spirit of this invention and should also fall within the scope of protection of the claims of this invention.

Claims

1. An end effector for collecting poultry eggs in a free-range breeding poultry farm, characterized in that: It includes a support frame (1), a drive motor (3) mounted on the support frame, and a first movable support (16), a fixed support (6), and a second movable support (4) arranged in sequence along the circumference. Soft fingers (5) are respectively installed on the first movable support (16), the fixed support (6), and the second movable support (4), and each soft finger forms an execution component. The output shaft of the drive motor (3) is fixedly equipped with an active bevel gear (7), which meshes with an upper driven bevel gear (12) and a lower driven bevel gear (13). The axial directions of the upper driven bevel gear (12) and the lower driven bevel gear (13) are consistent with the length direction of the soft finger (5). The upper driven bevel gear (12) is fixed relative to the first movable support (16), the lower driven bevel gear (13) is fixed relative to the second movable support (4), and the fixed support (6) is fixed relative to the support frame (1).

2. The end effector for collecting poultry eggs in a free-range breeding poultry farm according to claim 1, characterized in that: The support frame (1) is fixedly provided with a frame (8). The output shaft of the drive motor (3) passes through the side plate of the frame (8) in the transverse direction and is rotatably connected to the side plate of the frame. The upper driven bevel gear (12) and the lower driven bevel gear (13) are both located between the top plate and the bottom plate of the frame. The upper driven wheel shaft (10) is fixedly connected to the center of the upper driven bevel gear (12). The upper driven wheel shaft (10) passes through the top plate of the frame and is rotatably connected to the top plate of the frame. The upper driven wheel shaft (10) is fixedly connected to the first movable support (16). The lower driven bevel gear (13) is fixedly connected to the center of the lower driven wheel shaft (14). The lower driven wheel shaft (14) passes through the bottom plate of the frame and is rotatably connected to the bottom plate of the frame. The lower driven wheel shaft (14) is fixedly connected to the second movable support (4).

3. The end effector for collecting poultry eggs in a free-range breeding poultry farm according to claim 2, characterized in that: The upper driven bevel gear (12) and the lower driven bevel gear (13) are coaxially arranged. The first movable support (16) is fixedly provided with a first support plate (17) sleeved on the lower driven wheel shaft (14), and the first support plate (17) is rotatably connected to the lower driven wheel shaft (14). The second movable support (4) is fixedly provided with a second support plate (9) sleeved on the upper driven wheel shaft (10), and the second support plate (9) is rotatably connected to the upper driven wheel shaft (10).

4. The end effector for collecting poultry eggs in a free-range breeding poultry farm according to claim 1, characterized in that: It also includes a base compartment (20) with an opening at the lower end. The base compartment (20) is fixedly connected to the support frame (1). The drive motor (3), the first movable support (16), the fixed support (6), the second movable support (4), the driving bevel gear (7), the upper driven bevel gear (12) and the lower driven bevel gear (13) are all located in the inner cavity of the base compartment (20). The soft finger (5) extends downward out of the base compartment (20).

5. The method of operating the end effector for collecting poultry eggs in a free-range breeding poultry farm as described in any one of claims 1 to 4, characterized in that, Including the following aspects: a. Grasping mode: The first movable support (16) and the second movable support (4) are rotated by the drive motor (3), so that the three soft fingers (5) are evenly distributed in the circumference. When the robot with the end effector installed recognizes the egg, the drive mechanism of each soft finger is activated, the tendon rope (18) is tightened, and each soft finger bends inward under the pull of the tendon rope (18) to grasp the egg. b. Material turning mode switching: When it is necessary to search for buried eggs, the drive motor (3) drives the first movable support (16) and the second movable support (4) to rotate, so that the first movable support (16) and the second movable support (4) move closer to the fixed support (6), reducing the distance between the three soft fingers and making the three soft fingers look like rake teeth. c. Turning operation: The end effector, driven by the robotic arm, inserts its soft fingers into the bedding material and uses the soft fingers as rake teeth to turn the eggs buried in the bedding material to the surface of the bedding material.

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