Egg picking equipment

Abstract

The embodiment of the utility model provides egg picking equipment, and relates to the field of livestock breeding equipment. The egg picking equipment comprises a picking assembly, a mechanical arm, a carrying device and a control system, the picking assembly is installed on the mechanical arm, the mechanical arm is arranged on the carrying device, a tray and a weighing sensor are arranged on the carrying device, the tray is arranged on the weighing sensor, and the weighing sensor is in communication connection with the control system. When the picking assembly picks up the poultry eggs, the mechanical arm rotates / moves to drive the picking assembly and the poultry eggs to move and place the poultry eggs in the tray, the weighing sensor weighs the poultry eggs in the tray, and when the accumulated weight of the poultry eggs reaches a preset value, the carrying device moves to drive the poultry eggs to a designated place to be unloaded. The eggs are picked up and weighed again after being unloaded, manual operation is not needed in the whole process, and the picked eggs do not need to be independently weighed again.

Description

Technical Field

[0001] This utility model relates to the field of livestock breeding equipment, and more specifically, to an egg-collecting device. Background Technology

[0002] In large-scale poultry farms, a large number of eggs are produced every day. These eggs need to be collected manually. For farmers, collecting eggs not only takes a lot of time, but the repetitive physical labor and harsh environment can also harm their health.

[0003] Technicians have designed many semi-automatic egg-collecting devices to assist manual egg collection. However, these devices not only require manual assistance but also cannot weigh the collected eggs in real time. After collection, the eggs still need to be weighed and sorted separately, resulting in a poor user experience. Utility Model Content

[0004] This invention provides an egg-collecting device that can automatically weigh the collected poultry eggs, saving time and improving the user experience.

[0005] The embodiments of this utility model can be implemented as follows:

[0006] An embodiment of this utility model provides an egg-collecting device, which includes:

[0007] Pick-up component, used to pick up poultry eggs;

[0008] A robotic arm, with a pickup component mounted on it, the robotic arm being used to rotate and / or move the pickup component to pick up poultry eggs;

[0009] The transport device has a robotic arm mounted on it. The transport device is equipped with a tray and a weighing sensor. The tray is mounted on the weighing sensor, which is used to weigh the eggs inside the tray.

[0010] The control system is connected in communication with the weighing sensor.

[0011] Optionally, the egg-collecting equipment also includes a power supply system, which is electrically connected to the weighing sensor and electrically connected to the control system.

[0012] Optionally, the pickup component is equipped with a camera, a ranging sensor, and an obstacle avoidance sensor. The camera, ranging sensor, and obstacle avoidance sensor are all communicatively connected to the control system, and the camera, ranging sensor, and obstacle avoidance sensor are all electrically connected to the power supply system.

[0013] Optionally, the transport device includes a transport vehicle and a drive unit, the drive unit being connected to the transport vehicle, the drive unit being used to drive the transport vehicle to move, and the drive unit also being communicatively connected to the control system.

[0014] Optionally, the vehicle includes a frame, a drive wheel assembly, and a driven wheel assembly. Both the drive wheel assembly and the driven wheel assembly are located at the lower part of the frame, and the drive wheel assembly is connected to the drive unit for transmission.

[0015] Optionally, the transport vehicle is equipped with a positioning sensor, and the outer perimeter wall of the transport vehicle is equipped with an obstacle avoidance sensor. Both the positioning sensor and the obstacle avoidance sensor are communicatively connected to the control system.

[0016] Optionally, the robotic arm includes a column and a segment, the column being rotatably connected to the transport device, the segment being movably connected to the column, and a pickup component being disposed on the segment.

[0017] Optionally, the boom includes a first arm, a second arm, and a third arm. The two ends of the second arm are rotatably connected to the first arm and the third arm, respectively. The first arm is rotatably connected to the column, and the pickup assembly is disposed on the third arm.

[0018] Optionally, a first servo motor is provided between the column and the first arm, a second servo motor is provided between the first arm and the second arm, and a third servo motor is provided between the second arm and the third arm. The first, second, and third servo motors are all communicatively connected to the control system.

[0019] Optionally, the egg-collecting equipment also includes an egg-holding container, which is placed on a tray.

[0020] The beneficial effects of this utility model embodiment:

[0021] The egg-collecting equipment includes a collection component, a robotic arm, a transport device, and a control system. The collection component is mounted on the robotic arm, which is then mounted on the transport device. The transport device is equipped with a tray and a weighing sensor. The tray rests on the weighing sensor, which is communicatively connected to the control system. When the collection component picks up an egg, the robotic arm rotates / moves to move the collection component and the egg, placing the egg in the tray. The weighing sensor measures the weight of the eggs in the tray. Once the accumulated weight of the eggs reaches a predetermined value, the transport device moves to carry the eggs to a designated location for unloading. After unloading, the egg collection and weighing process is repeated. The entire process requires no manual operation and does not require individual weighing of the collected eggs. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a first-view structural schematic diagram of the egg-collecting device provided in an embodiment of the present utility model;

[0024] Figure 2 This is a second-view structural schematic diagram of the egg-collecting device provided in an embodiment of the present utility model;

[0025] Figure 3 This is a schematic diagram of the structure of the transport vehicle provided in an embodiment of this utility model;

[0026] Figure 4 This is a schematic diagram of the driven wheel assembly provided in an embodiment of the present utility model;

[0027] Figure 5 This is a schematic diagram of the segment arm provided in an embodiment of the present utility model;

[0028] Figure 6 This is a schematic diagram of the structure of the egg container provided in an embodiment of this utility model.

[0029] Icons: 1-Pickup component; 2-Robot arm; 20-Column; 201-Avoidance slot; 21-Segment arm; 211-First arm; 212-Second arm; 213-Third arm; 214-First servo; 215-Second servo; 216-Third servo; 3-Transportation device; 30-Pallet; 31-Transport vehicle; 311-Frame; 312-Outer shell; 313-Drive wheel assembly; 314-Driven wheel assembly; 315-Fourth servo; 316-Limit plate; 4-Egg container. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0034] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0035] The terms “comprising,” “including,” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] Unless otherwise explicitly specified and limited, terms such as "setup" and "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0037] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.

[0038] In large-scale poultry farms, a large number of eggs are laid every day. These eggs need to be collected manually. Due to the large amount of dust and manure odor in the breeding area, manual egg collection can have adverse effects on human health, and it also requires a lot of time and repetitive physical labor. In response, relevant technicians have designed many semi-automatic egg collection devices. However, these devices not only require manual assistance, but also cannot weigh the collected eggs in real time. After collection, the eggs still need to be weighed and sorted separately to remove excess eggs or supplement those that are underweight. The operation process is complicated and the user experience is poor.

[0039] Based on the above problems, embodiments of this utility model provide an egg-collecting device that can solve the above problems, which will be described in detail below.

[0040] Please refer to Figures 1 to 3 This utility model provides an egg-collecting device, including a picking component 1, a robotic arm 2, a transport device 3, and a control system. The picking component 1 is installed on the robotic arm 2, and the robotic arm 2 is set on the transport device 3. The transport device 3 is equipped with a tray 30 and a weighing sensor. The tray 30 is set on the weighing sensor, and the weighing sensor is communicatively connected to the control system. The robotic arm 2 and the picking component 1 cooperate to pick up poultry eggs and place them in the tray 30. The tray 30 is used to weigh the picked-up poultry eggs.

[0041] After the picking component 1 picks up the eggs, the robotic arm 2 rotates / moves to move the picking component 1 and the eggs and place them in the tray 30. The weighing sensor weighs the eggs in the tray 30. When a certain number of eggs are accumulated and the weight of the eggs reaches a predetermined value, the transport device 3 moves to the designated location and unloads the eggs from the tray 30. After unloading, the egg picking equipment picks up and weighs the eggs again. The whole process does not require manual operation and does not require weighing the picked-up eggs separately again. It is convenient to use and provides a good user experience.

[0042] In this embodiment, the transport device 3 includes a transport vehicle 31 and a drive unit. The drive unit is connected to the transport vehicle 31 and is used to drive the transport vehicle 31 to move. The drive unit is communicatively connected to the control system. When the weighing sensor detects that the weight of the eggs in the tray 30 has reached a predetermined value, it transmits the information to the control system. After analysis, the control system issues an instruction to the drive unit, causing the drive unit to drive the transport vehicle 31 back to the designated location to unload the eggs.

[0043] The transport vehicle 31 includes a frame 311, a shell 312, a drive wheel assembly 313, and a driven wheel assembly 314. Both the drive wheel assembly 313 and the driven wheel assembly 314 are located at the lower part of the frame 311. The drive wheel assembly 313 consists of a drive wheel and a drive wheel bracket. The drive wheel is fitted and fixed to a rotating shaft, which is also connected to a shaft connector. The shaft connector is connected to the output shaft of the drive component for transmission. The drive component is mounted on the drive wheel bracket, thereby driving the drive wheel to rotate. It is worth mentioning that each of the two drive wheel brackets is equipped with a drive component, and the two drive wheels are driven by two different drive components to facilitate turning.

[0044] refer to Figure 4The driven wheel assembly 314 consists of two driven wheels and a driven wheel bracket. The two driven wheels are rotatably connected to the driven wheel bracket via pins. The driven wheel bracket is rotatably connected to the frame 311 via bearings and a shaft. A servo motor is also installed on the top of the driven wheel bracket, which drives the driven wheel bracket to turn, so that the transport vehicle 31 can smoothly reach the designated location. The specific structure of the frame 311 and the outer shell 312 will not be described in detail here. In this embodiment, the transport vehicle 31 has two drive wheels and two driven wheels. The outer shell 312 is connected to the frame 311, and an accommodating space is formed between the outer shell 312 and the frame 311. The accommodating space can be used to house control system devices and other components.

[0045] During its movement, the transport vehicle 31 needs to be located in real time and avoid obstacles to prevent obstruction. Therefore, a positioning sensor is installed in the accommodating space of the transport vehicle 31 to locate its position in real time. Simultaneously, multiple obstacle avoidance sensors are installed around the outer shell 312 of the transport vehicle 31 to detect surrounding obstacles and prevent collisions during movement. Optionally, the obstacle avoidance sensor can be an E18-D80NK infrared obstacle avoidance sensor, and the positioning sensor can be a non-contact positioning sensor. Both the positioning sensor and the obstacle avoidance sensor are communicatively connected to the control system, allowing the control system to adjust the direction and route of the transport vehicle 31 at any time.

[0046] Of course, cameras and distance sensors can also be installed on the outside of the transport vehicle 31. The cameras are used for recording images, and the distance sensors are used for measuring distances. Both the cameras and distance sensors are connected to the control system to provide a basis for the control system to issue commands.

[0047] In this embodiment, the egg-collecting device also includes a power supply system, which is a rechargeable battery used to provide electrical energy. The power supply system is electrically connected to the weighing sensor, camera, distance sensor, control system, positioning sensor, obstacle avoidance sensor, servo motor, and drive unit, respectively. The drive unit is a servo motor.

[0048] refer to Figure 5 and combined Figure 1 and Figure 2 The robotic arm 2 includes a column 20 and a segmented arm 21. The column 20 is vertically mounted on the transport vehicle 31. A fourth servo motor 315 is connected to the lower end of the column 20 and is mounted on the frame 311. Driving the fourth servo motor 315 allows the column 20 to rotate. The fourth servo motor 315 is also electrically connected to the power supply system and communicatively connected to the control system. A limiting plate 316 is also fitted around the column 20 and fixed to the outer shell 312 of the transport vehicle 31 to ensure the stability of the column 20 during rotation.

[0049] The upper end of the column 20 is movably connected to the segment arm 21. In this embodiment, the segment arm 21 includes a first support arm 211, a second support arm 212 and a third support arm 213. The two ends of the second support arm 212 are rotatably connected to the first support arm 211 and the third support arm 213 respectively, and the first support arm 211 is rotatably connected to the column 20.

[0050] Specifically, a first servo motor 214 is installed between the column 20 and the first support arm 211, a second servo motor 215 is installed between the first support arm 211 and the second support arm 212, and a third servo motor 216 is installed between the second support arm 212 and the third support arm 213. The first servo motor 214 drives the first support arm 211 to rotate around the column 20, the second servo motor 215 drives the second support arm 212 to rotate around the first support arm 211, and the third servo motor 216 drives the third support arm 213 to rotate around the second support arm 212. The pickup component 1 is installed on the third support arm 213. When the first support arm 211, the second support arm 212, and the third support arm 213 all rotate to different degrees, the pickup component 1 can be moved to any position to achieve the goal of picking up poultry eggs. Of course, the number of segment arms 21 can also be two or more, and the number of arms in each segment arm 21 can also be three or more.

[0051] The first servo motor 214, the second servo motor 215, and the third servo motor 216 are all electrically connected to the power supply system. Simultaneously, they are all communicatively connected to the control system, receiving commands from the control system to complete different degrees of rotation, moving the pickup component 1 on the third support arm 213 to a predetermined position for egg pickup or placement. The model of the servo motor is not limited here; it can be reasonably selected based on the design dimensions of the transport vehicle 31 during actual design.

[0052] Optionally, the column 20 is provided with a clearance groove 201 along its own axis, and part of the first arm 211 can be accommodated in the clearance groove 201, which also facilitates the connection between the first arm 211 and the first servo motor 214.

[0053] The pickup assembly 1 is used to pick up poultry eggs. It is mounted on the third support arm 213 and includes a camera, a distance sensor, and an obstacle avoidance sensor. These components are all communicatively connected to the control system and electrically connected to the power supply system. When the transport vehicle 31 moves to the poultry farming area, the camera and distance sensor on the transport vehicle 31 transmit the detected images or information to the control system. Based on the received images and information, the control system controls the servo motor to rotate, causing the arm 21 to extend. The arm 21 then delivers the pickup assembly 1 to the side of the poultry eggs to pick them up. The specific structure of the pickup assembly 1 has been separately patented and will not be described in detail here; it can be considered prior art.

[0054] In this embodiment, the control system receives information from various sensors and cameras, analyzes it, and instructs each servo motor and drive component to operate, so as to smoothly pick up the eggs and return them to the designated unloading location. The control system can be programmed using a 51 microcontroller to receive information, analyze and process the received information, and issue instructions. The specific execution program has been separately protected by software copyright and will not be described in detail here; the execution program can be considered as prior art.

[0055] Optionally, the control system can also monitor the battery level in real time. When the battery level falls below a preset value, it can return to a designated location for charging. Once fully charged, charging stops, and the system continues collecting eggs. Monitoring the battery level is easily achieved using existing technology, such as coulometric metering, by connecting current-measuring resistors to the positive and negative terminals of the battery and measuring the charge by multiplying the current by time.

[0056] The egg collection equipment also includes an egg container 4, which is placed on a tray 30. The eggs are placed in the egg container 4. When the weight of the eggs in the egg container 4 reaches a preset value, the transport vehicle 31 returns to the designated location to unload the eggs. The egg container 4 can be directly removed from the tray 30. Compared with placing the eggs directly in the tray 30, placing the eggs in the egg container 4 can quickly complete the unloading and improve efficiency.

[0057] refer to Figure 6 For the egg container 4, a plastic basket of appropriate size can be selected.

[0058] The egg-collecting device of this utility model does not require manual operation during the entire process of collecting and transporting poultry eggs, nor does it require weighing the collected eggs separately. It is convenient to use and provides a good user experience.

[0059] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. An egg picking apparatus, characterized by, The application relates to an egg picking device. The device comprises: a picking assembly (1) for picking eggs; a mechanical arm (2) for driving the picking assembly (1) to rotate and / or move to pick eggs; a carrying device (3) provided with the mechanical arm (2); a tray (30) and a weighing sensor provided on the carrying device (3), the tray (30) being arranged on the weighing sensor, the weighing sensor being used for weighing the eggs in the tray (30); and a control system in communication connection with the weighing sensor. The device further comprises a power supply system in electrical connection with the weighing sensor and in electrical signal connection with the control system. The picking assembly (1) is provided with a camera, a distance measuring sensor and an obstacle avoidance sensor, all of which are in communication connection with the control system and in electrical connection with the power supply system. The carrying device (3) comprises a carrying vehicle (31) and a driving member connected with the carrying vehicle (31) and used for driving the carrying vehicle (31) to move, and the driving member is in communication connection with the control system.

2. The egg picking apparatus according to claim 1, wherein The carrying vehicle (31) comprises a vehicle frame (311), a driving wheel set (313) and a driven wheel set (314), both of which are arranged at the lower part of the vehicle frame (311), and the driving wheel set (313) is in transmission connection with the driving member.

3. The egg picking apparatus of claim 2, wherein, The carrying vehicle (31) is provided with a positioning sensor and an obstacle avoidance sensor arranged on the outer peripheral wall of the carrying vehicle (31), both of which are in communication connection with the control system.

4. The egg picking apparatus of claim 1, wherein, The mechanical arm (2) comprises a stand column (20) and a joint arm (21), the stand column (20) is rotatably connected with the carrying device (3), the joint arm (21) is movably connected with the stand column (20), and the picking assembly (1) is arranged on the joint arm (21).

5. The egg picking apparatus of claim 4, wherein, The joint arm (21) comprises a first branch arm (211), a second branch arm (212) and a third branch arm (213), both ends of the second branch arm (212) are rotatably connected with the first branch arm (211) and the third branch arm (213) respectively, the first branch arm (211) is rotatably connected with the stand column (20), and the picking assembly (1) is arranged on the third branch arm (213).

6. The egg picking apparatus of claim 4, wherein, ​ 7. The egg picking apparatus of claim 1, wherein, ​ 8. The egg picking apparatus of claim 7, wherein, ​ 9. The egg picking apparatus of claim 8, wherein, A first steering wheel (214) is arranged between the column (20) and the first branch arm (211), a second steering wheel (215) is arranged between the first branch arm (211) and the second branch arm (212), and a third steering wheel (216) is arranged between the second branch arm (212) and the third branch arm (213), and the first steering wheel (214), the second steering wheel (215) and the third steering wheel (216) are in communication connection with the control system.

10. The egg picking apparatus according to any one of claims 1 to 9, wherein The egg picking device further comprises an egg containing container (4) placed in the tray (30).

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