Flexible positioning and rotating picking device for bird's nest

Abstract

The utility model discloses a flexible positioning rotation hair picking device for bird's nest, which comprises a rotating workbench, a bottom center of the rotating workbench is connected with an external air source through a rotating joint, a top center of the rotating workbench is provided with a conical table for bearing the bird's nest, a flexible positioning assembly, a hair picking needle, and a gantry. The utility model adopts the structure of the pressure-equalizing air bag array cooperating with the radial push rod, so that all the push rods work under constant pressure, can adaptively adhere to the irregular surface of the bird's nest with different strokes, and provide uniform radial clamping force. The utility model solves the technical problem that the traditional rigid clamp is easy to bruise and crush the bird's nest, greatly reduces the raw material loss rate, and ensures the integrity and economic value of the bird's nest.

Description

Technical Field

[0001] This utility model relates to the field of bird's nest processing and production technology, and in particular to a flexible positioning and rotating bird's nest picking device. Background Technology

[0002] Bird's nest, a precious traditional tonic, requires meticulous and tedious processing, particularly the removal of feathers and impurities. Current technology primarily employs traditional manual feather removal, which relies entirely on visual inspection and simple tools like tweezers. This method is extremely inefficient, labor-intensive, and poses hygiene and safety risks, failing to meet the standardization and hygiene requirements of modern food processing.

[0003] To overcome the shortcomings of manual feather removal, some mechanical feather removal equipment has emerged on the market. For example, rigid clamps are used to fix the bird's nest, combined with simple feather-removing needles. However, these devices have many limitations: First, bird's nests are irregular in shape and fragile in texture; rigid clamps can easily cause localized stress concentration, leading to cracking or indentation, resulting in raw material loss. Second, existing fixing devices lack effective rotation and posture adjustment functions. To clean the various surfaces of the bird's nest, repeated disassembly and reassembly or the use of multiple sets of clamps is required, making the operation cumbersome and severely restricting production efficiency. Utility Model Content

[0004] The purpose of this utility model is to provide a flexible positioning and rotating feather-picking device for bird's nests, so as to solve one or more technical problems existing in the prior art, and at least provide a beneficial option or create conditions.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0006] This utility model provides a flexible positioning and rotating feather-picking device for bird's nest, comprising:

[0007] The rotating worktable has a bottom center joint connected to an external air source, and a cone-shaped platform protruding from the top center to support bird's nests;

[0008] The flexible positioning component includes a first ring body, a second ring body, and a plurality of airbags arranged coaxially with the conical platform. The first ring body has a common sealed air chamber. The airbags are arranged in a ring array and are connected to the sealed air chambers respectively. The sealed air chambers are connected to the internal air passage of the rotating worktable so that the airbags are connected to an external air source. The second ring body has a plurality of radially arranged push rods. The tail of the push rod abuts against the airbag and the head points to the center of the conical platform.

[0009] The picking needle is mounted on the conical platform via a gantry frame. The gantry frame is equipped with a first drive motor that drives the picking needle to move up and down, a second drive motor that drives the picking needle to swing left and right, and a vision unit for visually identifying the location of impurities.

[0010] This technical solution employs a pressure-equalizing airbag array combined with radial push rods, ensuring all push rods operate under constant pressure. This allows them to adaptively conform to the irregular surface of the bird's nest with varying strokes, providing uniform radial clamping force. This solves the technical problem of traditional rigid clamps easily damaging and crushing bird's nests, significantly reducing raw material loss and ensuring the integrity and economic value of the bird's nests. By integrating the rotary joint into the center of the bottom of the rotating worktable, the connection and sealing problem of the air circuit during 360-degree continuous rotation is solved. This allows the device to continuously provide stable and reliable flexible clamping force while the bird's nests rotate, eliminating the inefficiency and secondary contamination risks associated with repeated loading and unloading of bird's nests.

[0011] As an extension of the above scheme, the second ring body is provided with a radially arranged sliding hole. The head of the push rod passes through the sliding hole from the outside of the second ring body and is positioned towards the center of the conical platform. The tail of the push rod is provided with a limiting ring. A compression spring is provided between the limiting ring and the outer side of the second ring body. The compression spring is sleeved on the push rod for resetting.

[0012] The extended design uses sliding holes to provide precise radial guidance and constraint for the push rods, ensuring that all push rods move in a radial straight line and preventing them from deviating, jamming, or rotating during the pushing process. This guarantees that all clamping forces are precisely directed towards the geometric center of the bird's nest, achieving stable and reliable clamping. A compression spring is used to provide the restoring force, solving the problem that the airbag cannot pull the push rod back to its original position when it contracts.

[0013] As an extension of the above solution, the push rod includes a first rod on the tail side and a second rod on the head side. The first rod has a fixed length, with its tail end abutting against the airbag and the other end opposite the tail end being a threaded connection end. The second rod is detachably mounted on the threaded connection end of the first rod.

[0014] In this extended design, the first rod serves as the power transmission rod, with its tail contacting the airbag and its head machined with external threads. The second rod is the component that directly contacts the bird's nest; its head can be equipped with a flexible contact end, and the corresponding end of the second rod is machined with internal threads. The mating of the external and internal threads ensures reliable connection and concentricity. The second rod can be easily removed for thorough cleaning or disinfection, facilitating cleaning. Furthermore, the detachable connection of the second rod allows for replacement according to actual usage. For example, based on the size of the bird's nest, various specifications of the second rod can be prepared, such as different lengths, head shapes, and flexible materials, allowing for easy replacement as needed, thus enhancing the device's versatility and adaptability.

[0015] As an extension of the above solution, the head of the push rod is provided with a flexible contact end, which is made of silicone, soft plastic, or sponge. Soft materials such as silicone, soft plastic, or sponge have a low modulus of elasticity and high resilience. When in contact with the fragile surface of the bird's nest, they can increase the contact area through their own deformation, thereby distributing the clamping force over a larger area, reducing the pressure per unit area, and avoiding indentations, scratches, or punctures caused by hard materials.

[0016] As an extension of the above solution, the second ring body includes an upper ring and a lower ring. The lower ring is fixed on a rotary worktable, and the upper ring is locked onto the lower ring by bolts. The bottom surface of the upper ring and the top surface of the lower ring are fitted together, and semi-circular holes are respectively provided at the corresponding positions of the push rod. The upper and lower semi-circular holes form sliding holes when the upper and lower rings are assembled. The upper and lower rings are two circular ring-shaped plates of equal thickness, decomposing a whole ring-shaped part into two parts, simplifying the manufacturing process. When the upper and lower rings are tightened by bolts, the two semi-circular holes close together to form a complete circular sliding hole, which can provide precise guidance for the push rod.

[0017] As an extension of the above solution, the rotary joint includes a stationary outer shell and a central rotating shaft. The stationary outer shell is connected to the external air source, and the central rotating shaft rotates synchronously with the rotary worktable. The central rotating shaft has an internal ventilation channel communicating with the internal air passage of the rotary worktable. Connecting the external air source to the stationary outer shell prevents the air source pipeline from becoming entangled as the worktable rotates. The central rotating shaft is rigidly connected to the rotary worktable via a coupling or flange. The ventilation channel is used for gas transmission during rotation, delivering gas from the stationary outer shell to the interior of the rotary worktable, thus solving the problem of continuous gas supply during rotation.

[0018] As an extension of the above solution, the internal air passage of the rotary table includes an air inlet communicating with the air passage of the central rotating shaft, a middle air passage located within the rotary table, and an air outlet extending vertically upward from the middle air passage to the upper surface of the rotary table. The bottom of the first ring body has an air inlet that connects to the air outlet, and the air inlet communicates with the sealed air chamber. The air inlet ensures that the gas from the rotary joint can be connected to the interior of the rotary table. The middle air passage serves as the gas transmission path within the table, and the air outlet is used to transport the gas from inside the rotary table to the rotating first ring body. This avoids the use of exposed air pipes, improves the reliability and aesthetics of the equipment, and prevents malfunctions caused by air pipe entanglement, wear, or detachment.

[0019] As an extension of the above solution, the air inlet protrudes from the bottom of the first ring body and is positioned and assembled with the air outlet. The protruding part of the air inlet can be designed as a short cylinder, and the diameter of the air inlet and the diameter of the air outlet on the rotary table form a positioning fit with each other. The fit length is 3-5mm to ensure sufficient guiding effect. During assembly, the operator can easily align it with the air outlet to achieve quick preliminary positioning and reduce the assembly difficulty.

[0020] As an extension of the above solution, the inner side of the first ring body is provided with several air outlets, which protrude from the inner surface of the first ring body. The air inlet of the airbag is fitted onto the air outlet. The protruding air outlet is regarded as a short nozzle. The air inlet of the airbag is made of soft rubber or silicone, and its inner diameter is slightly smaller than the outer diameter of the air outlet. After the air inlet is fitted, it is tightened with a thin cable tie or a special clamp to enhance the connection reliability and prevent it from falling off.

[0021] As an extension of the above solution, a rotary motor is provided at the bottom of the rotary table. By directly mounting the rotary motor at the bottom of the rotary table, a compact direct-drive or short drive chain layout is formed, reducing transmission components and improving transmission accuracy and efficiency. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0023] Figure 1 This is a schematic diagram of the flexible positioning and rotating feather-picking device for bird's nests in an embodiment;

[0024] Figure 2 This is a schematic diagram of the structure of the rotary table and flexible positioning assembly in the embodiment;

[0025] Figure 3 This is a schematic diagram of the push rod in an embodiment.

[0026] In the attached diagram: 100: Rotary worktable, 110: Rotary joint, 111: Stationary outer shell, 112: Central rotating shaft, 120: External air source, 130: Conical platform, 140: Intermediate air passage, 150: Air outlet, 200: Flexible positioning component, 210: First ring body, 211: Sealed air chamber, 212: Air outlet, 220: Second ring body, 2201: Upper ring, 2202: Lower ring, 221: Push rod, 2211: Limiting ring, 2212: First rod body, 2213: Second rod body, 2214: Flexible contact end, 222: Sliding hole, 223: Compression spring, 230: Airbag, 300: Hair picking needle, 310: Gantry frame, 320: First drive motor, 330: Second drive motor, 340: Vision unit, 400: Rotary motor. Detailed Implementation

[0027] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0028] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. 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. Therefore, they should not be construed as limitations on this utility model.

[0029] In the description of this utility model, if there are words such as "several", they mean one or more, "multiple" means two or more, "greater than", "less than", "exceeding" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself.

[0030] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0031] Reference Figures 1 to 3 The following are several embodiments of a flexible positioning and rotating feather-picking device for bird's nest according to this utility model.

[0032] In some embodiments, such as Figures 1 to 2 As shown, this utility model provides a flexible positioning and rotating feather-picking device for bird's nest, comprising:

[0033] The rotating worktable 100 has a bottom center connected to an external air source 120 via a rotary joint 110, and a cone-shaped platform 130 protruding from the top center for supporting bird's nest.

[0034] The flexible positioning component 200 includes a first ring 210 and a second ring 220 coaxially arranged with the conical platform 130, and a plurality of airbags 230 disposed between the first ring 210 and the second ring 220. The first ring 210 has a common sealed air chamber 211. The airbags 230 are arranged in a ring array and are respectively connected to the sealed air chambers 211. The sealed air chambers 211 are connected to the internal air passage of the rotating worktable 100 so that the airbags 230 are connected to the external air source 120. The second ring 220 has a plurality of radially arranged push rods 221. The tail of the push rod 221 abuts against the airbag 230, and the head points to the center of the conical platform 130.

[0035] The picking needle 300 is mounted on the conical platform 130 via a gantry frame 310. The gantry frame 310 is equipped with a first drive motor 320 for driving the picking needle 300 to move up and down, a second drive motor 330 for driving the picking needle 300 to swing left and right, and a vision unit 340 for visually identifying the location of impurities.

[0036] In this embodiment, a rotary joint connects to an external air source, enabling seamless compressed air delivery to the rotating worktable and solving the problem of continuous air supply during rotation. The flexible positioning component uses a ring-shaped clamping method, and its ring structure ensures that the clamping force applied to the bird's nest is uniform and symmetrical, avoiding tilting or overturning caused by unilateral force. The common sealed air chamber within the first ring has a pressure equalization and adaptive effect. The internal pressure of all airbags that receive air from the sealed air chamber is equal. When the push rod at the top of a certain airbag first contacts the bird's nest and is blocked, its internal pressure will be slightly higher than that of other airbags. However, since the air source pressure is constant, the expansion stroke of that airbag will automatically stop or decrease, while the airbags that have not been in contact will continue to expand and advance until all push rods are in contact with the surface of the bird's nest. This allows all push rods to apply nearly equal pressure with different final strokes, achieving adaptive flexible clamping and effectively preventing pressure damage.

[0037] Those skilled in the art will understand that the picking needle is endowed with two degrees of freedom of movement by two drive motors, namely lifting and swinging. This allows the picking needle to not only press down to pick feathers, but also, in conjunction with the rotation of the rotary table and the downward pressure after swinging off-center, to position the execution end of the picking needle at any position on the bird's nest for picking processing. The vision unit (industrial camera + light source) can accurately locate the coordinates of the impurities, realizing automated machine identification and guiding the picking needle to perform the operation. It should be noted that this utility model does not impose any form of limitation on the structure and principle of the picking needle lifting and swinging through drive motors, nor does it impose any form of limitation on the means of visual recognition by the vision unit or the control means of determining the coordinate position to drive the picking needle. Those skilled in the art can achieve this by using existing technologies according to actual usage needs, which will not be elaborated upon here.

[0038] In this embodiment, the bird's nest to be processed is placed on the conical platform at the top of the rotating worktable. An external air source is activated, supplying air to the sealed air chamber of the first ring through a rotary joint and internal air passage. The gas fills all the ring-shaped array of air bladders, causing them to expand and uniformly push the radial push rods in the second ring towards the center. All push rods adaptively press the irregular surface of the bird's nest with their different strokes, achieving non-destructive and flexible fixation. The vision unit is activated to photograph the fixed bird's nest, using existing image processing algorithms to identify the position and shape of impurities such as feathers and to plan the optimal picking sequence and the trajectory of the picking needles. The rotating worktable rotates under the drive of a motor, adjusting the target on the bird's nest to be processed below the picking needles. The first drive motor drives the picking needles to descend for processing. The worktable can rotate again, and the second drive motor can control the tilting of the picking needles to send the next target under them. This process is repeated until all impurities are removed. After the feathers are removed, the air source is vented and the air bladder contracts. Without the pushing force of the air bladder, the bird's nest can be easily removed from the conical platform. In some preferred methods, the push rod can also be pushed back to its original position by the action of the compression spring, releasing the bird's nest and taking it away.

[0039] This embodiment employs a structure combining a pressure-equalizing airbag array with radial push rods. This allows all push rods to operate under constant pressure, adaptively conforming to the irregular surface of the bird's nest with varying strokes, providing uniform radial clamping force. This solves the technical problem of traditional rigid clamps easily damaging and crushing bird's nests, significantly reducing raw material loss and ensuring the integrity and economic value of the bird's nests. By integrating the rotary joint into the center of the bottom of the rotating worktable, the connection and sealing problem of the air circuit during 360-degree continuous rotation is solved. This allows the device to continuously provide stable and reliable flexible clamping force while the bird's nests rotate, eliminating the inefficiency and secondary contamination risks associated with repeated loading and unloading of bird's nests.

[0040] In an optional embodiment, such as Figure 2 and Figure 3 As shown, the second ring body 220 is provided with a radially arranged sliding hole 222. The head of the push rod 221 passes through the sliding hole 222 from the outside of the second ring body 220 and points towards the center of the conical platform 130. The tail of the push rod 221 is provided with a limiting ring 2211. A compression spring 223 is provided between the limiting ring 2211 and the outer side of the second ring body 220. The compression spring 223 is sleeved on the push rod 221 for resetting.

[0041] In this embodiment, the sliding hole and the push rod form a sliding fit. The machining accuracy of the sliding hole directly affects the smoothness of the push rod's movement. To ensure accuracy and reduce wear, a self-lubricating copper sleeve or linear bearing can be embedded in the sliding hole. The sliding hole provides precise radial guidance and constraint for the push rod, ensuring that all push rods move radially in a straight line, preventing them from deviating, jamming, or rotating during the pushing process, and ensuring that all clamping forces are precisely directed towards the geometric center of the bird's nest, achieving stable and reliable clamping.

[0042] In this embodiment, the limiting ring is a retaining ring or machined boss that fits onto and is fixed to the push rod. It serves a dual purpose: firstly, as a travel limiter, it prevents the tail of the push rod from fully extending into the sliding hole under the pushing action of the airbag, thus preventing the push rod from being pushed away by the airbag after separation; secondly, it serves as a mounting support for the spring, providing a reliable force-bearing plane for the compression spring. The compression spring provides the restoring force, allowing the airbag pressure to easily compress it and providing elastic restoring force when the airbag is not inflated, solving the problem of the airbag contraction preventing the push rod from returning to its original position. When the airbag inflates, the gas pressure overcomes the spring force to push the push rod forward; when the airbag deflates, the elastic potential energy stored in the compression spring is released, actively and forcibly pushing the push rod back to its initial position, ensuring the reliable release of the bird's nest.

[0043] In an optional embodiment, such as Figure 2 and Figure 3 As shown, the push rod 221 includes a first rod body 2212 on the tail side and a second rod body 2213 on the head side. The first rod body 2212 has a fixed length, with its tail end abutting against the airbag 230 and the other end opposite to the tail end being a threaded connection end. The second rod body 2213 is detachably mounted on the threaded connection end of the first rod body 2212.

[0044] In this embodiment, the first rod serves as a power transmission rod, with its tail contacting the airbag and its head machined with external threads. The second rod is the component that directly contacts the bird's nest; its head can be equipped with a flexible contact end, and the corresponding end of the second rod is machined with internal threads. The external and internal threads mate to ensure reliable connection and concentricity. The second rod can be easily removed for thorough cleaning or disinfection, facilitating cleaning. Furthermore, the detachable connection of the second rod allows for replacement according to actual usage. For example, based on the size and specifications of the bird's nest, various specifications of the second rod can be prepared, such as different lengths, different head shapes, and different flexible materials, allowing for easy replacement as needed, thus enhancing the versatility and adaptability of the device.

[0045] In an optional embodiment, such as Figure 2 and 3As shown, the head of the push rod 221 is provided with a flexible contact end 2214, which is made of silicone, soft plastic, or sponge. Soft materials such as silicone, soft plastic, or sponge have a low elastic modulus and high resilience. When in contact with the fragile surface of the bird's nest, they can increase the contact area through their own deformation, thereby distributing the clamping force to a larger area, reducing the pressure per unit area, and avoiding indentations, scratches, or punctures caused by hard materials.

[0046] In an optional embodiment, such as Figure 2 As shown, the second ring body 220 includes an upper ring 2201 and a lower ring 2202. The lower ring 2202 is fixed on the rotary table 100. The upper ring 2201 is locked to the lower ring 2202 by bolts. The bottom surface of the upper ring 2201 and the top surface of the lower ring 2202 are in contact with each other, and semi-circular holes are respectively provided at the positions corresponding to the push rod 221. The upper and lower semi-circular holes form a sliding hole 222 when the upper ring 2201 and the lower ring 2202 are assembled. The upper ring and the lower ring are two circular ring-shaped plates of equal thickness, which decomposes a whole ring-shaped part into two parts, simplifying the processing and manufacturing process. When the upper ring and the lower ring are tightened by bolts, the two semi-circular holes close together to form a complete circular sliding hole, which can provide precise guidance for the push rod.

[0047] In an optional embodiment, such as Figure 2 As shown, the rotary joint 110 includes a stationary housing 111 and a central rotating shaft 112. The stationary housing 111 is connected to the external air source 120. The central rotating shaft 112 rotates synchronously with the rotary worktable 100. The central rotating shaft 112 has an air passage that communicates with the internal air passage of the rotary worktable 100.

[0048] In this embodiment, the rotary joint supports the rotation of the central shaft via high-precision bearings and employs composite sealing materials, such as graphite, silicon carbide, and nitrile rubber, to form a dynamic seal between the stationary housing and the rotating shaft, preventing gas leakage. The inlet of the stationary housing and the outlet of the central shaft are equipped with standard threaded interfaces for easy connection of gas pipes. Gas enters from the inlet of the stationary housing, passes through the internal channels of the housing, and reaches the sealing interface in contact with the central shaft. At the interface, the gas is forced open by pressure through the tiny gaps in the seal, entering the venting channel of the central shaft and finally flowing into the rotary table. Throughout the process, the seal maintains a micron-level fit with the shaft under pressure and spring action, achieving a dynamic seal.

[0049] In this embodiment, the external air source is connected to the stationary shell, which can prevent the air source pipeline from getting tangled as the worktable rotates. The central rotating shaft is rigidly connected to the rotating worktable through a coupling or flange. The air passage is used for gas transmission during rotation, delivering gas from the stationary shell to the interior of the rotating worktable, thus solving the problem of continuous gas supply during rotation.

[0050] In an optional embodiment, such as Figure 2 As shown, the internal air passage of the rotary worktable 100 includes an air inlet communicating with the air passage of the central rotating shaft 112, an intermediate air passage 140 located inside the rotary worktable 100, and an air outlet 150 extending vertically upward from the intermediate air passage 140 and through to the upper surface of the rotary worktable 100. The bottom of the first ring body 210 is provided with an air inlet that mates with the air outlet 150, and the air inlet communicates with the sealed air chamber 211.

[0051] In this embodiment, the air inlet, intermediate air inlet, and air outlet are machined by drilling. The air inlet ensures that the gas from the rotary joint can be connected to the inside of the rotary table. The intermediate air inlet serves as the transmission path for the gas inside the table. The air outlet is used to transport the gas inside the rotary table to the first ring body, which is also rotating. This avoids the use of exposed air pipes, improves the reliability and aesthetics of the equipment, and prevents malfunctions caused by air pipe entanglement, wear, or detachment.

[0052] In an optional embodiment, such as Figure 2 As shown, the air inlet protrudes from the bottom of the first ring 210 and is positioned and assembled with the air outlet 150. The protruding part of the air inlet can be designed as a short cylinder, and the diameter of the air inlet and the diameter of the air outlet on the rotary table form a positioning fit with each other. The fit length is 3-5mm to ensure sufficient guiding effect. During assembly, the operator can easily align it with the air outlet to achieve quick preliminary positioning and reduce the assembly difficulty.

[0053] In an optional embodiment, such as Figure 2 As shown, the inner side of the first ring 210 is provided with several air outlets 212, which protrude from the inner surface of the first ring 210. The air inlet of the airbag 230 is fitted onto the air outlet 212. The protruding air outlet is regarded as a short nozzle. The air inlet of the airbag is made of soft rubber or silicone, and its inner diameter is slightly smaller than the outer diameter of the air outlet. After the air inlet is fitted, it is tightened with a thin cable tie or special clamp to enhance the connection reliability and prevent it from falling off.

[0054] In an optional embodiment, such as Figure 1As shown, a rotary motor 400 is installed at the bottom of the rotary worktable 100. The rotary motor is fixed to the frame or base by a motor mounting plate, and its output shaft is connected to the central drive shaft at the bottom of the rotary worktable via a rigid coupling. By directly mounting the rotary motor at the bottom of the rotary worktable, a compact direct-drive or short drive chain layout is formed, reducing transmission components and improving transmission accuracy and efficiency.

[0055] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A flexible positioning and rotating picking device for bird's nest, characterized in that, include: The rotating worktable (100) is connected to an external air source (120) through a rotary joint (110) at the bottom center, and has a conical platform (130) protruding at the top center for supporting bird's nest; The flexible positioning component includes a first ring (210) and a second ring (220) coaxially arranged with the conical platform (130), and a plurality of airbags (230) disposed between the first ring (210) and the second ring (220). The first ring (210) has a common sealed air chamber (211) inside. The airbags (230) are arranged in a ring array and are respectively connected to the sealed air chambers (211). The sealed air chambers (211) are connected to the internal air passage of the rotating worktable (100) so that the airbags (230) are connected to the external air source (120). The second ring (220) has a plurality of radially arranged push rods (221). The tail of the push rod (221) abuts against the airbag (230), and the head points to the center of the conical platform (130). The picking needle (300) is mounted above the conical platform (130) via a gantry frame (310). The gantry frame (310) is equipped with a first drive motor (320) for driving the picking needle (300) to move up and down, a second drive motor (330) for driving the picking needle (300) to swing left and right, and a vision unit (340) for visually identifying the location of impurities.

2. The flexible positioning and rotating device for picking the nestling according to claim 1, characterized in that: The second ring body (220) is provided with a radially arranged sliding hole (222). The head of the push rod (221) passes through the sliding hole (222) from the outside of the second ring body (220) and points towards the center of the conical platform (130). The tail of the push rod (221) is provided with a limiting ring (2211). A compression spring (223) is provided between the limiting ring (2211) and the outer side of the second ring body (220). The compression spring (223) is sleeved on the push rod (221) for resetting.

3. The flexible positioning and rotating device for picking the nestling according to claim 1, characterized in that: The push rod (221) includes a first rod (2212) on the tail side and a second rod (2213) on the head side. The first rod (2212) has a fixed length, with its tail end abutting against the airbag (230) and the other end opposite to the tail end being a threaded connection end. The second rod (2213) is detachably mounted on the threaded connection end of the first rod (2212).

4. The flexible positioning and rotating feather-picking device for bird's nest according to claim 3, characterized in that: The head of the push rod (221) is provided with a flexible touch end (2214), which is made of silicone, soft plastic or sponge.

5. The flexible positioning and rotating feather-picking device for bird's nest according to claim 2, characterized in that: The second ring body (220) includes an upper ring (2201) and a lower ring (2202). The lower ring (2202) is fixed on the rotary table (100). The upper ring (2201) is locked to the lower ring (2202) by bolts. The bottom surface of the upper ring (2201) and the top surface of the lower ring (2202) are in contact with each other and semi-circular holes are respectively provided at the position of the push rod (221). The upper and lower semi-circular holes form sliding holes (222) when the upper ring (2201) and the lower ring (2202) are assembled.

6. The flexible positioning and rotating feather-picking device for bird's nest according to claim 1, characterized in that: The rotary joint (110) includes a stationary housing (111) and a central rotating shaft (112). The stationary housing (111) is connected to the external air source (120). The central rotating shaft (112) rotates synchronously with the rotary worktable (100). The central rotating shaft (112) has an air passage inside that communicates with the internal air passage of the rotary worktable (100).

7. The flexible positioning and rotating feather-picking device for bird's nest according to claim 6, characterized in that: The internal air passage of the rotary table (100) includes an air inlet that communicates with the air passage of the central rotating shaft (112), an intermediate air passage (140) located in the rotary table (100), and an air outlet (150) that extends vertically upward from the intermediate air passage (140) and through to the upper surface of the rotary table (100). The bottom of the first ring body (210) is provided with an air inlet that connects to the air outlet (150), and the air inlet communicates with the sealed air chamber (211).

8. The flexible positioning and rotating feather-picking device for bird's nest according to claim 7, characterized in that: The air inlet protrudes from the bottom of the first ring body (210) and is positioned and assembled with the air outlet (150).

9. The flexible positioning and rotating feather-picking device for bird's nest according to claim 1, characterized in that: The inner side of the first ring body (210) is provided with a plurality of air outlets (212), the air outlets (212) protruding from the inner surface of the first ring body (210), and the air inlet of the airbag (230) is fitted onto the air outlets (212).

10. The flexible positioning and rotating feather-picking device for bird's nest according to claim 1, characterized in that: The bottom of the rotary worktable (100) is equipped with a rotary motor (400).

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