Suction-type caged laying hen dead individual removal end execution device

Abstract

The utility model relates to the technical field of agricultural robots, in particular to a suction-type caged laying hen dead individual removing tail end executing device. The suction-type caged laying hen dead individual removing tail end executing device comprises a pose adjusting mechanism, a clamping and conveying mechanism and a guiding-out mechanism. The posture adjusting mechanism is used for covering and adjusting the posture state of the dead chicken in the cage to the state of the chicken head relative to the posture adjusting mechanism; the clamping and conveying mechanism is used for clamping the head of the dead chicken and is gradually opened in the process of driving the dead chicken to be conveyed outwards, so that the body of the dead chicken smoothly passes through and is conveyed; the guiding-out mechanism is used for guiding out the dead chicken heads moving to the tail end of the clamping and conveying mechanism downwards. The posture adjusting mechanism and the clamping and conveying mechanism are jointly arranged in a shell in a wrapped mode, the front end of the shell is open, and the rear end of the shell is communicated with the guiding-out structure. Compared with a mechanical arm grabbing device, the suction type caged laying hen dead individual removing tail end executing device simplifies the grabbing process, improves the grabbing efficiency, can effectively reduce chicken flock stress, and is convenient to export.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural robots, in particular to a suction-type terminal execution device for removing dead individuals of caged laying hens. Background Art

[0002] In recent years, with the increase in the scale of egg-laying chicken farming, multi-layer cage farming has become the most common farming method. This method has the characteristics of large number of individual chickens and high farming density. During the breeding process, due to environmental, disease and other reasons, the chickens in the cages will die. If they are not removed in time, they will rot and deteriorate, affecting the normal survival of other chickens.

[0003] The removal of dead laying hens in cages is basically done by farm workers manually grabbing them, which is inefficient, time-consuming and labor-intensive. At the same time, since farm workers need to enter different chicken houses to grab dead chickens, there is a risk of disease transmission. Therefore, it is urgent to improve the mechanization level of grabbing dead chickens in cages. To this end, the structure for mechanically grabbing dead chickens has been improved, but the existing mechanical grabbing devices for dead chickens in cages mostly use a manipulator-like structure, which requires step-by-step completion of positioning, grabbing, taking the chickens out of the cage, and placing them. The steps are relatively cumbersome and put great stress on the chickens.

[0004] In view of the shortcomings of the existing mechanical arm device for grabbing dead chickens in cages, such as cumbersome operating steps, complex control process, and great stress on the chickens, it is urgent to invent a device for removing dead laying hens in cages to simplify the grabbing process, improve the grabbing efficiency, and reduce the stress on the chickens. Utility Model Content

[0005] In order to solve the above problems, the utility model proposes a suction-type terminal execution device for removing dead individuals of caged laying hens. Compared with the manipulator grasping device, it simplifies the grasping process, improves the grasping efficiency, can effectively reduce the stress of the chickens, and is easy to export, thus solving the problems existing in the prior art.

[0006] The utility model provides the following technical solutions:

[0007] A suction-type terminal execution device for removing dead laying hens in cages, comprising a posture adjustment mechanism, a clamping and conveying mechanism and an exporting mechanism; the posture adjustment mechanism is used to cover and adjust the posture state of the dead chicken in the cage to a state where the chicken head is relative to the posture adjustment mechanism; the clamping and conveying mechanism is used to clamp the head of the dead chicken and gradually open in the process of driving the dead chicken to be transported outward so that the body of the dead chicken can pass through and be transported smoothly; the exporting mechanism is used to export the head of the dead chicken that has reached the end of the clamping and conveying mechanism downward; the posture adjustment mechanism and the clamping and conveying mechanism are jointly enclosed in a shell, the front end of the shell is open, and the rear end of the shell is connected to the exporting structure; after the posture adjustment mechanism adjusts the head of the dead chicken to correspond to the front end of the shell, the dead chicken is pushed into the shell to achieve the clamping and conveying of the dead chicken by the clamping and conveying mechanism.

[0008] Furthermore, the suction-type caged laying hen dead individual removal terminal actuator also includes a frame, which is used to support the shell and realize the horizontal circumferential rotation of the terminal actuator, the forward and backward movement along the depth direction of the cage, and the height adjustment.

[0009] Furthermore, the frame includes a mobile carrying platform, on which a first drive device, a second drive device and a third drive device are arranged; the first drive device is connected to the shell and realizes the rotation adjustment of the shell in the horizontal circumferential direction, the second drive device is used to support the first drive device and realize the longitudinal adjustment of the first drive device as a whole, the third drive device is fixed on the mobile carrying platform, the second drive device is connected to the third drive device and realizes the lateral horizontal adjustment of the second drive device as a whole; a collecting box is arranged on the mobile carrying platform on the side of the third drive device close to the shell, and the collecting box is used to receive dead chickens exported by the export mechanism.

[0010] Furthermore, moving wheels are arranged at the bottom end of the movable carrying platform.

[0011] Furthermore, a power drive system, a control system, and a navigation system are arranged on the mobile carrier platform to facilitate the free movement of the mobile carrier platform through wired or wireless control.

[0012] Furthermore, the first driving device includes a first stepper motor, the output shaft of the first stepper motor is connected to a first synchronous wheel, the first synchronous wheel is connected to a second synchronous wheel via a synchronous belt, the top end of the second synchronous wheel is connected to the top rear part of the housing via a connecting plate; the housing is rotated by the second synchronous wheel to achieve horizontal rotation adjustment;

[0013] The second driving device comprises a longitudinal screw, a first screw slider is arranged on the longitudinal screw, the outer end of the first screw slider is fixedly connected to the support platform, and the first driving device is supported on the support platform; a first motor is arranged at the top of the longitudinal screw, and longitudinal slide rails are arranged on both sides of the longitudinal screw, and the first motor drives the longitudinal screw to rotate so that the first screw slider moves up and down along the longitudinal slide rail;

[0014] The third driving device includes a transverse screw, on which a second screw slider is arranged. The top end of the second screw slider is connected to the longitudinal screw and the longitudinal screw slide rail. The end of the transverse screw is connected to the output shaft of a second motor. The transverse screw is arranged in the transverse screw slide rail.

[0015] Furthermore, the posture adjustment mechanism includes two telescopic adjustment rods, an inner arc-shaped adjustment plate is arranged at the front end of each telescopic adjustment rod, and a spacing is left between the front ends of the two inner arc-shaped adjustment plates; the two telescopic adjustment rods are arranged on two opposite inner side walls of the shell, and each telescopic adjustment rod is driven by a second stepper motor to telescope and move along the length direction of the shell.

[0016] Furthermore, the spacing between the front ends of the two inner arc-shaped adjustment plates ensures that the two telescopic adjustment rods can freely extend and retract forward and backward without interference, and also ensures that the two inner arc-shaped rods cooperate to repeatedly adjust the dead chickens by touching and pushing them to adjust the posture of the dead chickens.

[0017] Furthermore, the telescopic direction-adjusting rod and the inner arc-shaped plate have a certain vertical height, thereby forming a guard plate style, which can achieve a certain shielding effect during the dead chicken posture adjustment process, and prevent external chickens from being stressed during the posture adjustment mechanism. The shell serves as an opaque enclosure, forming a shield during the conveying process of the clamping conveying mechanism, and further preventing external chickens from being stressed during the processing.

[0018] Furthermore, the telescopic steering rod and the inner arc-shaped steering plate are integrally arranged; after each telescopic steering rod is completely retracted into the shell, the inner arc-shaped steering plate enters the shell in whole or in part; for the structural arrangement in which the inner arc-shaped steering plate is partially outside the shell when the rear end of the telescopic steering rod is completely retracted, the exposed length should be less than the overall length of the dead chicken, that is, the distance between the front part of the shell and the front end of the inner arc of the inner arc-shaped steering plate is less than the overall length of the dead chicken. In this way, after the dead chicken adjusts its position to be pushed and moved into the shell by the retracted telescopic steering rod, the head of the dead chicken can be better positioned to enter the front part of the clamping and conveying mechanism to achieve subsequent smooth clamping.

[0019] Furthermore, the horizontal spacing between the two telescopic direction-adjusting rods is slightly larger than the overall length of the laying hen, so that the whole body of the dead chicken can be covered when the dead chicken is initially in a horizontal position.

[0020] Furthermore, two transmission wheels are respectively arranged on both sides of the shell, a conveyor belt is arranged between the two transmission wheels on the same side of the shell, the output shaft of the second stepper motor is connected to the axle of a transmission wheel on the same side of the shell, a slider is arranged on the outer wall of the conveyor belt, a slide groove is arranged on the inner side support of the conveyor belt, a roller is arranged in the slide groove, the axle of the roller is connected to the slider, the slider is connected to a steering rod, and the steering rod is driven by the slider to move with the conveyor belt to form a telescopic steering rod that enters and exits the shell.

[0021] Furthermore, the slide groove is formed by a profile installed between the wheel axle bearings of the two transmission wheels; two slide grooves are respectively arranged on the upper and lower sides of the profile, and rollers are arranged in each slide groove, and the rollers in the upper and lower slide grooves are connected to the slider via the wheel axle. Such an arrangement improves the stability of the slider during the movement of the conveyor belt.

[0022] Furthermore, two rollers are respectively arranged in the upper and lower slide grooves, and the two rollers in each slide groove are respectively connected to a slider via a wheel axle, and the two sliders are respectively fixed to the upper and lower parts of the outer side wall of the conveyor belt.

[0023] Furthermore, a profile is provided between the slider and the telescopic steering rod, and the two sides of the profile are respectively connected to the slider and the telescopic steering rod in a detachable assembly. This arrangement facilitates the disassembly, replacement and maintenance of the telescopic steering rod. The slider is connected to the rear end of the profile mentioned here, and the telescopic steering rod is connected to the side wall of the profile.

[0024] Furthermore, the height of the inner arc-shaped steering plate is smaller than the inner height of the housing. By appropriately shortening the length of the telescopic steering rod, the inner arc-shaped steering plate can partially or completely enter the housing when the telescopic steering rod is completely retracted into the housing. This setting structure accelerates the dead chicken to enter the clamping and conveying mechanism to a certain extent, so that the chicken head is clamped first and the conveying starts.

[0025] Furthermore, the clamping and conveying mechanism includes two clamping brackets arranged opposite to each other, pulleys are arranged at both ends of each clamping bracket, and a third motor is arranged above one of the pulleys, and the third motor drives the pulleys to rotate; a clamping adjustment member is arranged on the clamping bracket between the two pulleys, and the clamping adjustment member includes a V-shaped tensioning bracket and a steering gear, the V-shaped tensioning bracket is driven to rotate by the steering gear, and rollers are arranged at both ends of the V-shaped tensioning bracket; a belt is arranged on the outside of the two pulleys and the V-shaped tensioning bracket, the belt contacts the roller of the V-shaped tensioning bracket and is supported by the V-shaped tensioning bracket to form a deformable belt conveying structure; the two belts are close to each other on one side of the front end of the shell when the V-shaped tensioning bracket rotates to achieve clamping of the chicken head entering the front of the shell, and as the V-shaped tensioning bracket continues to rotate, the two belts are close to each other on the other side and gradually open to be parallel to allow the dead chicken body to pass through by friction.

[0026] Furthermore, the clamping bracket is arranged on the inner bottom wall of the shell.

[0027] Furthermore, the belt pulley on the clamping bracket and the V-shaped tensioning bracket are of equal height, and the V-shaped tensioning bracket is surrounded by two obtuse triangle-shaped triangular support frames. A spring tensioning shaft is arranged on the rod body of the triangular support frame near the front end of the shell, and the arrangement of the spring tensioning shaft increases the buffer, so that when the clamped chicken head is transported to the body and begins to pass between the two belts, the gradually widening dead chicken body is prevented from being damaged by the simple hard squeezing of the triangular support frame, thereby reducing the stress of the live chicken.

[0028] Furthermore, each triangular support frame includes support rods symmetrically arranged at the upper and lower parts, each support rod includes a first oblique rod, a second oblique rod and a connecting rod, the first and second oblique rods are at an obtuse angle and the length of the second oblique rod is greater than that of the first oblique rod, and the rollers are respectively arranged between the upper and lower first oblique rods and the upper and lower second oblique rods; the belt sleeve is arranged on the outside of the two pulleys and the two rollers; the spring tensioning shaft divides the first oblique rod into two sections, and the connecting rod is arranged between the two second oblique rods.

[0029] Furthermore, the outlet structure includes a tube body, the top end of the tube body is connected to the rear end of the shell body, and the bottom end of the tube body is arranged above the collection box.

[0030] Furthermore, the tube body is a corrugated hose.

[0031] The method for removing dead chickens using the device of the utility model comprises the following steps:

[0032] (1) Dead chicken capture and posture adjustment

[0033] After determining the position of the dead chicken in the chicken cage, the end effector is moved to the cage door of the corresponding chicken cage, the dead chicken is covered by the posture adjustment mechanism, and the posture of the dead chicken is repeatedly adjusted until its head corresponds to the front entrance of the shell, and then the posture adjustment mechanism pulls the dead chicken until its head gradually enters the shell;

[0034] (2) Clamping and conveying

[0035] When the head of the dead chicken enters the front part of the clamping and conveying mechanism in the shell, the clamping and conveying mechanism is started, and the front end of the clamping and conveying mechanism gradually clamps the chicken head, and as the clamping and conveying mechanism runs, the dead chicken is moved and conveyed along the inner bottom surface of the shell;

[0036] (3) Export

[0037] At the rear end of the shell, the heads of the dead chickens transported by the clamping and conveying mechanism first leave the rear end of the shell and enter the output mechanism to be output downward.

[0038] Furthermore, the chicken head downward discharge method avoids the problem of dead chickens with their wings spread out under gravity getting stuck in the conveying pipe and difficult to discharge due to other discharge methods, such as when the chickens fall with their heads upward or sideways.

[0039] Furthermore, in step (1), the shell of the end effector is supported by a frame, and the frame realizes the overall free movement of the end effector through a mobile carrying platform arranged at the bottom thereof. The frame realizes the adjustment of the height of the shell, the rotation adjustment in the horizontal circumferential direction and the adjustment of the depth of the shell into the chicken cage through a driving device arranged on the mobile carrying platform, so as to meet the requirements of the shell entering the chicken cage to cover the dead chicken from top to bottom and the close adjustment of the shell according to the position of the dead chicken; in step (2), the clamping and conveying mechanism adopts a horizontal spacing adjustable conveyor belt to complete the smooth conveying of the dead chicken with the chicken head clamped and the chicken body less squeezed; in step (3), a derivation mechanism with a corrugated hose structure is arranged at the rear end of the shell.

[0040] The suction-type caged laying hen dead individual removal end effector proposed by the utility model can bring the following beneficial effects:

[0041] 1. The device uses a regional capture method to restrain dead chickens. Compared with traditional manipulator grasping devices, the positioning accuracy requirements are greatly reduced, the success rate of accurate removal of dead chickens is greatly improved, and the operation is simpler.

[0042] 2. After capturing dead chickens, the device of the utility model can directly transport them to the dead chicken collection device outside the cage through the clamping and conveying mechanism, which greatly simplifies the steps of removing and cleaning dead chickens and improves work efficiency.

[0043] 3. After the dead chickens are covered by the posture adjustment mechanism, all related operations are completed in a relatively closed protective plate and shell. Compared with the traditional method of taking the chickens out of the cage after catching them, the visual stress on the live chickens is greatly reduced, which can greatly reduce the impact of dead chicken catching on the production capacity of live chickens in the cage.

[0044] 4. The utility model device ensures that the head of the dead chicken entering the shell is always stable at the front end of the conveyor through the setting of the posture adjustment mechanism, avoiding the instability of the dead chicken body entering the ordinary conveyor belt directly at the beginning, such as the tilt of the chicken head or chicken body, which may cause blockage during the subsequent export. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present application and do not constitute an improper limitation on the present invention. In the drawings:

[0046] Figure 1 It is a schematic diagram of the structure of the utility model;

[0047] Figure 2 for Figure 1 Another perspective structural diagram after removing the export mechanism;

[0048] Figure 3 for Figure 1 Structural schematic diagram of the mid-position adjustment mechanism and the clamping and conveying mechanism;

[0049] Figure 4 for Figure 3 Schematic diagram of the structure from an upward perspective;

[0050] Figure 5 for Figure 3 Schematic diagram of the local structure of the mid-position adjustment mechanism.

[0051] Among them, 1 housing, 2 posture adjustment mechanism, 201 telescopic steering rod, 202 inner arc steering plate, 203 second stepping motor, 204 transmission wheel, 205 conveyor belt, 206 slider, 207 slide, 208 roller, 209 first profile, 210 second profile, 3 clamping conveying mechanism, 301 clamping bracket, 302 pulley, 303 third motor, 304 V-type tensioning bracket, 3041 spring tensioning shaft, 3042 first diagonal rod, 3043 second diagonal rod, 3044 connecting rod, 305 steering gear, 306 roller Shaft, 307 belt, 4 export mechanism, 5 frame, 51 mobile carrier platform, 52 first drive device, 521 first stepper motor, 522 first synchronous wheel, 523 synchronous belt, 524 second synchronous wheel, 525 connecting plate, 53 second drive device, 531 longitudinal lead screw, 532 first lead screw slider, 533 supporting platform, 534 first motor, 535 longitudinal slide rail, 54 third drive device, 541 transverse lead screw, 542 second lead screw slider, 543 second motor, 544 transverse lead screw slideway, 6 collection box. DETAILED DESCRIPTION

[0052] In order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an illustrative manner in conjunction with the accompanying drawings.

[0053] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0054] like Figure 1-5As shown, this embodiment discloses an implementation method of the suction-type caged laying hen dead individual removal terminal execution device. Specifically, the suction-type caged laying hen dead individual removal device includes a shell 1, a posture adjustment mechanism 2, a clamping and conveying mechanism 3, an export mechanism 4 and a frame 5. The posture adjustment mechanism 2 and the clamping and conveying mechanism 3 are both arranged in the shell 1, and the frame 5 is used to support the shell and realize the adjustment of the horizontal circumferential rotation of the shell, the movement in the depth direction of the cage, and the height lifting. The posture adjustment mechanism can be adjusted inside and outside the shell to realize the encirclement of the dead chicken to be cleaned in the cage within the corresponding range above and below, and then the frame 5 adjusts the shell from top to bottom to cover the dead chicken downward, and finally adjusts the head corresponding to the shell entrance so that the chicken head can enter the clamping and conveying mechanism first. The clamping and conveying mechanism is arranged along the length direction of the shell, and is used to adjust and clamp the head of the dead chicken and gradually restore the original state in the process of driving the dead chicken to be transported outward so that the dead chicken body can pass and be transported smoothly. The export mechanism is used to export the head of the dead chicken that has reached the conveying end of the clamping and conveying mechanism downward into the collection box 6 for collecting dead chickens.

[0055] The frame 5 includes a mobile carrier platform 51, on which a first drive device 52, a second drive device 53 and a third drive device 54 are arranged; the first drive device 52 is connected to the outer shell 1 and realizes the rotation adjustment of the horizontal circumferential direction of the outer shell, the second drive device 53 is used to support the first drive device and realize the longitudinal adjustment of the first drive device as a whole, the third drive device 54 is fixed on the mobile carrier platform 51, connected to the second drive device on the third drive device and realizes the lateral horizontal adjustment of the second drive device as a whole; the aforementioned collection box 6 is arranged at the top front end of the third drive device.

[0056] Specifically, the first driving device 52 includes a first stepper motor 521, the output shaft of the first stepper motor is connected to a first synchronous wheel 522, the first synchronous wheel is connected to a second synchronous wheel 524 via a synchronous belt 523, and the top end of the second synchronous wheel is connected to the top rear part of the shell 1 via a connecting plate 525; the shell 1 is rotated by the second synchronous wheel 524 to realize horizontal rotation adjustment. The second driving device 53 includes a longitudinal screw 531, on which a first screw slider 532 is arranged, the outer end of the first screw slider is fixedly connected to the support platform 533, and the first driving device support is arranged on the support platform; a first motor 534 is arranged at the top of the longitudinal screw, and longitudinal slide rails 535 are arranged on both sides of the longitudinal screw. The first motor drives the longitudinal screw to rotate so that the first screw slider 532 drives the support platform 533 and the shell connected thereto to move up and down along the longitudinal slide rail as a whole; the third driving device 54 includes a transverse screw 541, on which a second screw slider 542 is arranged, the top of the second screw slider is connected to the longitudinal screw and the longitudinal screw slide rail, the end of the transverse screw is connected to the output shaft of a second motor 543, and the transverse screw is arranged in the transverse screw slideway 544.

[0057] The above-mentioned posture adjustment mechanism includes two telescopic adjustment rods 201, and an inner arc-shaped adjustment plate 202 is arranged at the front end of each telescopic adjustment rod, and a spacing is left between the front ends of the two inner arc-shaped adjustment plates; the two telescopic adjustment rods are arranged on the left and right opposite inner walls of the outer shell 1, and each telescopic adjustment rod is driven by a second stepping motor 203 to move along the length direction of the outer shell.

[0058] The spacing at the front ends of the two inner arc-shaped adjustment plates 202 ensures that the two telescopic adjustment rods can freely extend and retract forward and backward without interference, and at the same time, it can also ensure that the two inner arc-shaped adjustment plates cooperate to push and adjust the dead chickens repeatedly to adjust the posture of the dead chickens. The telescopic adjustment rod and the inner arc-shaped adjustment plate 202 have a certain vertical height, thereby forming a guard plate style, which can achieve a certain shielding effect during the dead chicken posture adjustment process, and avoid external chickens from generating stress during the posture adjustment mechanism processing. That is, it can be understood that the telescopic adjustment rod is a plate body that is integrally arranged with the inner arc-shaped adjustment plate and has the same height. The outer shell serves as an opaque enclosure, which forms a shield during the conveying process of the clamping and conveying mechanism, and further avoids external chickens from generating stress during the processing.

[0059] When the telescopic direction-adjusting rods 201 are completely retracted into the shell 1, the inner arc-shaped direction-adjusting plate also enters completely or mostly. With such arrangement, when the dead chicken adjusts its posture to be pushed into the shell by the telescopic direction-adjusting rod, when the telescopic direction-adjusting rod is completely retracted into the shell, the dead chicken can enter the shell due to the push of the inner arc-shaped direction-adjusting plate, and the chicken head can be better positioned to enter the front of the clamping and conveying mechanism to achieve clamping. The horizontal spacing between the two telescopic direction-adjusting rods 201 is slightly larger than the overall body length of the laying hen, so as to cover the entire body of the dead chicken when it is initially in a horizontal position.

[0060] The specific structure of the telescopic adjustment rod 201 driven for telescopic adjustment includes two transmission wheels 204 respectively arranged on the left and right sides inside the shell, a conveyor belt 205 is arranged between the two transmission wheels on the same side of the shell, the output shaft of the second stepper motor 203 is connected to the axle of a transmission wheel on the same side of the shell, a slider 206 is arranged on the outer wall of the conveyor belt, a slide groove 207 is arranged on the internal support of the conveyor belt, a roller 208 is arranged in the slide groove, the axle of the roller is connected to the slider 206, the slider is connected to the rear end of the adjustment rod, and the adjustment rod is driven by the slider to move with the conveyor belt to form a telescopic adjustment rod 201 that can enter and exit the shell.

[0061] The above-mentioned slide groove 207 is formed by a first profile 209 installed on the outside of the wheel bearing of the transmission wheel; two slide grooves are respectively arranged on the upper and lower parts of the first profile, and the above-mentioned rollers are arranged in each slide groove, and the rollers in the upper and lower slide grooves are connected to the slider via the wheel axle. Such an arrangement improves the stability of the slider during the movement of the conveyor belt. A second profile 210 is also arranged between the slider 206 and the telescopic steering rod, and the two sides of the second profile are respectively connected to the detachable assembly of the slider and the telescopic steering rod, specifically, one side of the second profile is connected to the telescopic steering rod, and the rear end of the other side is connected to the slider. Such an arrangement facilitates the disassembly and replacement of the telescopic steering rod and the maintenance of the device.

[0062] As an embodiment, the height of the inner arc-shaped steering plate 202 is less than the inner height of the housing, and when the telescopic steering rod is completely retracted into the housing 1, the inner arc-shaped steering plate is also driven to partially or completely enter the housing. This setting structure accelerates the dead chicken to enter the clamping and conveying mechanism to a certain extent, so that the chicken head is clamped first and begins to be conveyed.

[0063] The clamping and conveying mechanism 3 comprises two clamping brackets 301 arranged opposite to each other, and the clamping brackets are arranged on the inner bottom wall of the shell. Pulleys 302 are arranged at both ends of each clamping bracket, and a third motor 303 is arranged above one of the pulleys, and the third motor drives the pulleys to rotate; a clamping adjustment member is arranged on the clamping bracket between the two pulleys, and the clamping adjustment member comprises a V-type tensioning bracket 304 and a steering gear 305, and the V-type tensioning bracket is driven to rotate by the steering gear, and rollers 306 are arranged at both ends of the V-type tensioning bracket; a belt 307 is arranged on the outside of the two pulleys and the V-type tensioning bracket, and the belt contacts the roller of the V-type tensioning bracket and is supported by the V-type tensioning bracket to form a deformable belt conveying structure; the two belts are close to the front end of the shell when the V-type tensioning bracket rotates to clamp the chicken head entering the front of the shell, and as the V-type tensioning bracket continues to rotate, the two belts are gradually opened to be parallel to each other to allow the dead chicken body to pass through by friction.

[0064] The belt pulley on the clamping bracket and the V-type tensioning bracket are at the same height, and the V-type tensioning bracket 304 is surrounded by two obtuse triangle-shaped triangular brackets. A spring tensioning shaft 3041 is arranged on the rod body of the triangular bracket close to the front end of the housing 1. The arrangement of the spring tensioning shaft increases the buffer, so that when the clamped chicken head is transported to the body and begins to pass between the two belts 307, the gradually widening dead chicken body is prevented from being damaged by the simple hard squeezing of the triangular bracket, thereby reducing the stress of the live chicken. Each triangular support frame includes support rods symmetrically arranged at the upper and lower parts, and each support rod includes a first oblique rod 3042, a second oblique rod 3043 and a connecting rod 3044. The first and second oblique rods are at an obtuse angle and the length of the second oblique rod is greater than that of the first oblique rod. The rollers 306 are respectively arranged between the upper and lower first oblique rods and the upper and lower second oblique rods; the belt 307 is sleeved on the outside of the two pulleys and the two rollers; the spring tensioning shaft 3041 divides the first oblique rod 3042 into two interconnected rod sections, and the connecting rod 3044 is arranged between the two second oblique rods.

[0065] The aforementioned outlet structure 4 includes a tube body, the top end of which is connected to the rear end of the shell, and the bottom end of which is arranged above the collecting box. The tube body can be a corrugated hose.

[0066] When the suction-type terminal actuator for removing dead laying hens in cages is used, it can be applied to chicken cages of different heights. Since the cage door can be fully opened, it ensures that when the dead chickens are in different positions in the cage, the device can be conveniently moved horizontally at the cage door to adjust to the position corresponding to the dead chicken, and then proceed to the next step. It should also be noted that, considering the state of the chicken body after death of caged laying hens, they will basically be touched or stepped on by other living chickens after death. The overall chicken body is in a tilted lying state when looking inward at the cage mouth, and there is rarely a vertical lying state facing the cage door. This provides convenience for the utility model of the suction-type terminal actuator for removing dead laying hens in cages to adjust the posture of dead chickens. The specific working process operation method is as follows:

[0067] (1) Dead chicken capture: After a dead chicken is found, the position of the dead chicken is first determined, and the end effector moves to the corresponding chicken cage door and enters above the corresponding position. In order to reduce the stress of the live chickens in the cage, the second stepper motors 203 on both sides of the posture adjustment mechanism for driving the two telescopic adjustment rods 201 to extend simultaneously execute actions to push out all or part of the telescopic adjustment rods 201 to form a larger effective capture area and reduce the influence of positioning errors. After the telescopic adjustment rods are pushed out, the device falls from the top of the cage to the dead chicken positioning area. This process is completed by the action of the longitudinal lead screw 531 of the second drive device 53 on the frame 5, so that the dead chicken enters a relatively closed area formed by the telescopic adjustment rod 201 and the front edge of the inner arc-shaped adjustment plate 202 at its front end, so as to ensure the restraint of the dead chicken, and then execute the next step.

[0068] Before the above operation, according to the position of the dead chicken in the cage, the shell 1 can be partially or completely inserted into the cage through the third driving device 54 on the frame 5, and then the shell is appropriately adjusted to rotate to a certain extent in the horizontal circumferential direction through the first driving device 52, so that the shell and the dead chicken to be processed are on the same straight line in the horizontal direction; then the aforementioned telescopic adjustment rod 201 is extended and lowered to cover the dead chicken.

[0069] (2) Posture adjustment:

[0070] According to the initial state of the dead chicken individual, the second stepper motors 203 on both sides of the posture adjustment mechanism are respectively actuated to drive the telescopic adjustment rods 201 on both sides and the inner arc-shaped adjustment plate 202 connected to the front end thereof to retract at different distances, so as to realize the rotational push of touching and pulling back the body of one side of the dead chicken individual. The action adjustment process can be adjusted multiple times through the cooperation of the two second stepper motors 203, and finally the dead chicken individual is adjusted so that the head and neck part is facing the entrance of the shell 1; after the posture adjustment is completed, the telescopic adjustment rods on both sides are adjusted to the same extension length and retracted by the same distance, and the dead chicken individual is dragged into the shell 1 through the push back of the inner arc-shaped adjustment plate 202;

[0071] During this process, for example, if a dead chicken is in a tilted and prone state, the telescopic adjustment rod 201 near the chicken's head can be pulled back to drive the inner arc-shaped adjustment plate 202 at its front end backward. The inner edge of the front end of the inner arc-shaped adjustment plate 202 pulls the outside of the chicken body near the chicken's head and neck with a certain rotational pulling force, so that the chicken's neck is gradually rotated and adjusted. According to the adjustment result, the corresponding telescopic adjustment rod is adjusted repeatedly until the chicken's head and neck correspond to the direction of the shell entrance. After the adjustment is completed, it is pulled back in a straight line.

[0072] (3) Clamping and conveying:

[0073] When the dead chicken is pulled back by the telescopic adjustment rod 201 until the telescopic adjustment rod is completely retracted into the shell 1, the head of the dead chicken enters the shell smoothly and can reach the front of the clamping and conveying mechanism. At this time, the third motor 303 is started to make the belts 307 on both sides rotate along the respective pulleys 302. At the same time, the steering gear 305 is started to drive the V-shaped tensioning bracket 304 controlled by it to rotate, so that the V-shaped tensioning bracket 304 on one side rotates clockwise and the other side rotates counterclockwise, so that the two belts near the front end of the shell are supported by the relative rotation of the two V-shaped tensioning brackets 304 and approach each other and clamp the head of the dead chicken. The chicken head is driven to move backward in the shell in one step; as the dead chicken with the head clamped is driven by the conveyor, the chicken body is also gradually moving forward due to the friction of the belt, and the two V-shaped tensioning brackets 304 are controlled by the steering gear 305 to rotate and restore to the original state respectively, and the spacing between the two belts is restored and increased, so that the chicken body is reduced in extrusion and damage and continues to pass between the belts, and due to the setting of the spring tensioning shaft 3041, in this process, the extrusion of the gradually conveyed chicken body by the V-shaped tensioning bracket outside the belt is fully buffered, avoiding the damage caused by the hard extrusion and damage to the dead chicken bones; the belts on both sides gradually drive the chicken body to continue to be conveyed to the rear end of the shell;

[0074] (4) Export:

[0075] The dead chicken that reaches the rear end of the shell has its head leave the rear end of the shell first, so it stands upside down and enters the corrugated hose for export. The process of falling due to gravity in the corrugated hose will not cause blockage, and it falls into the collection box for collection, completing the removal work.

[0076] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0077] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

[0078] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A suction-type end-effector for removing dead laying hens in cages, characterized in that: It comprises a posture adjustment mechanism, a clamping and conveying mechanism and an exporting mechanism; the posture adjustment mechanism is used to cover and adjust the posture state of the dead chicken in the cage to a state where the chicken head is relative to the posture adjustment mechanism; the clamping and conveying mechanism is used to clamp the head of the dead chicken and gradually open in the process of driving the dead chicken to be transported outward so that the body of the dead chicken can pass through and be transported smoothly; the exporting mechanism is used to export the head of the dead chicken that reaches the end of the clamping and conveying mechanism downward; the posture adjustment mechanism and the clamping and conveying mechanism are jointly enclosed in a shell, the front end of the shell is open, and the rear end of the shell is connected to the exporting mechanism; after the posture adjustment mechanism adjusts the head of the dead chicken to correspond to the front end of the shell, the dead chicken is pushed into the shell to realize the clamping and conveying of the dead chicken by the clamping and conveying mechanism.

2. The suction-type caged laying hen dead individual removal end effector according to claim 1 is characterized in that: It also includes a frame, which is used to support the shell and realize the adjustment of the horizontal circumferential rotation of the end effector, the forward and backward movement along the depth direction of the cage, and the height lifting.

3. The suction-type caged laying hen dead individual removal end effector according to claim 2, characterized in that: The frame includes a mobile carrying platform, on which a first drive device, a second drive device and a third drive device are arranged; the first drive device is connected to the shell and realizes the rotation adjustment of the shell in the horizontal circumferential direction, the second drive device is used to support the first drive device and realize the longitudinal adjustment of the first drive device as a whole, the third drive device is fixed on the mobile carrying platform, the second drive device is connected to the third drive device and realizes the lateral level adjustment of the second drive device as a whole; a collecting box is arranged on the mobile carrying platform on the side of the third drive device close to the shell, and the collecting box is used to receive dead chickens exported by the export mechanism.

4. The suction-type caged laying hen dead individual removal end effector according to claim 3, characterized in that: The first driving device comprises a first stepper motor, the output shaft of the first stepper motor is connected to a first synchronous wheel, the first synchronous wheel is connected to a second synchronous wheel via a synchronous belt, the top end of the second synchronous wheel is connected to the top rear part of the housing via a connecting plate; the housing is rotated by the second synchronous wheel to realize horizontal rotation adjustment; The second driving device comprises a longitudinal screw, a first screw slider is arranged on the longitudinal screw, the outer end of the first screw slider is connected to the support platform, and the first driving device is supported on the support platform; a first motor is arranged at the top of the longitudinal screw, and longitudinal slide rails are arranged on both sides of the longitudinal screw, and the first motor drives the longitudinal screw to rotate so that the first screw slider moves up and down along the longitudinal slide rail; The third driving device includes a transverse screw, on which a second screw slider is arranged. The top end of the second screw slider is connected to the longitudinal screw and the longitudinal screw slide rail. The end of the transverse screw is connected to the output shaft of a second motor. The transverse screw is arranged in the transverse screw slide rail.

5. The suction-type caged laying hen dead individual removal end effector according to claim 1, characterized in that: The posture adjustment mechanism includes two telescopic adjustment rods, an inner arc adjustment plate is arranged at the front end of each telescopic adjustment rod, and a spacing is left between the front ends of the two inner arc adjustment plates; the two telescopic adjustment rods are arranged on two opposite inner side walls of the shell, and each telescopic adjustment rod is driven by a second stepping motor to telescope and move along the length of the shell.

6. The suction-type caged laying hen dead individual removal end effector according to claim 5, characterized in that: Two transmission wheels are respectively arranged on both sides of the shell, and a conveyor belt is arranged between the two transmission wheels on the same side of the shell. The output shaft of the second stepper motor is connected to the axle of a transmission wheel on the same side of the shell, a slider is arranged on the outer wall of the conveyor belt, a slide groove is arranged on the inner side support of the conveyor belt, a roller is arranged in the slide groove, the axle of the roller is connected to the slider, the slider is connected to a steering rod, and the steering rod is driven by the slider to move with the conveyor belt to form a telescopic steering rod that enters and exits the shell.

7. The suction-type caged laying hen dead individual removal end effector according to claim 1, characterized in that: The clamping and conveying mechanism comprises two clamping brackets arranged opposite to each other, pulleys are arranged at both ends of each clamping bracket, a third motor is arranged above one of the pulleys, and the third motor drives the pulleys to rotate; a clamping adjustment piece is arranged on the clamping bracket between the two pulleys, and the clamping adjustment piece comprises a V-shaped tensioning bracket and a steering gear, the V-shaped tensioning bracket is driven to rotate by the steering gear, and rollers are arranged at both ends of the V-shaped tensioning bracket; a belt is arranged on the outer sides of the two pulleys and the V-shaped tensioning bracket, the belt contacts the roller of the V-shaped tensioning bracket and is supported by the V-shaped tensioning bracket to form a deformable belt conveying structure; the two belts are close to each other on one side of the front end of the shell when the V-shaped tensioning bracket rotates to clamp the chicken head entering the front part of the shell, and as the V-shaped tensioning bracket continues to rotate, the two belts are gradually opened to be parallel on the side close to each other to allow the dead chicken body to pass through by friction.

8. The suction-type caged laying hen dead individual removal end effector according to claim 7, characterized in that: The belt pulley on the clamping bracket and the V-shaped tensioning bracket are of equal height. The V-shaped tensioning bracket is surrounded by two obtuse triangle-shaped triangular support frames. A spring tensioning shaft is arranged on the rod body of the triangular support frame near the front end of the shell.

9. The suction-type caged laying hen dead individual removal end effector according to claim 8, characterized in that: Each triangular support frame includes upper and lower symmetrically arranged support rods, each support rod includes a first oblique rod, a second oblique rod and a connecting rod, the first and second oblique rods are at an obtuse angle and the length of the second oblique rod is greater than that of the first oblique rod, and the rollers are respectively arranged between the upper and lower first oblique rods and the upper and lower second oblique rods; the belt sleeve is arranged on the outside of the two pulleys and the two rollers; the spring tensioning shaft divides the first oblique rod into two sections, and the connecting rod is arranged between the two second oblique rods.

10. The suction-type caged laying hen dead individual removal end effector according to claim 1, characterized in that: The export mechanism comprises a tube body, the top end of which is connected to the rear end of the shell body, and the bottom end of which is arranged corresponding to the top of the collection box.

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