CN111165390A

CN111165390A - Sorting device and method

Info

Publication number: CN111165390A
Application number: CN202010079906.2A
Authority: CN
Inventors: 左学勇; 孔德凯; 刘存生
Original assignee: Beijing Haiyi Tongzhan Information Technology Co Ltd
Current assignee: Beijing Haiyi Tongzhan Information Technology Co Ltd
Priority date: 2020-02-04
Filing date: 2020-02-04
Publication date: 2020-05-19

Abstract

The embodiment of the application discloses sorting equipment and a method, wherein the sorting equipment comprises: the hatching egg detection device, the hatching egg taking and placing mechanism, the moving device and the control mechanism; the hatching egg detection device, the hatching egg taking and placing mechanism and the moving device are electrically connected with the control mechanism, the moving device can drive the hatching egg taking and placing mechanism to move, and the moving destination of the moving device comprises the sorting target position of the hatching egg. Therefore, in the embodiment of the application, the moving device moves based on the control of the control mechanism and drives the hatching egg taking and placing mechanism to move to the sorting target position of the hatching eggs; so, be favorable to putting into the letter sorting target location with the hatching egg automatically, therefore, can solve current manual sorting mode inefficiency and damage the problem of hatching egg easily.

Description

Sorting device and method

Technical Field

The present application relates to the field of automation, and more particularly, to a sorting apparatus and method.

Background

Among the correlation technique, to the letter sorting of hatching egg, can adopt artifical letter sorting mode, specifically speaking, can observe the hatching egg through the naked eye to illuminate the hatching egg with the flashlight and see whether it is nonconforming egg, sort out nonconforming egg through observing, this kind of mode not only work efficiency is low, damages the hatching egg easily among the manual operation process moreover.

Disclosure of Invention

Embodiments of the present application are intended to provide a sorting apparatus and method.

The embodiment of the application provides sorting equipment, which comprises an egg detection device, an egg taking and placing mechanism, a moving device and a control mechanism;

the hatching egg detection device, the hatching egg taking and placing mechanism and the moving device are electrically connected with the control mechanism, the moving device can drive the hatching egg taking and placing mechanism to move, and the moving destination of the moving device comprises the sorting target position of the hatching egg.

Optionally, the sorting equipment further comprises a tray, wherein an egg fixing structure is arranged on the tray, and the tray is located on the conveying device.

Optionally, the sorting equipment further includes a first photoelectric sensor, the first photoelectric sensor is located on at least one side of the transmission path of the transmission device, and the sensing position of the first photoelectric sensor is a hatching egg detection position.

Optionally, the sorting apparatus further comprises a second photoelectric sensor; the second photoelectric sensor is positioned on at least one side of the transmission path of the transmission device, and the sensing position of the second photoelectric sensor is the head end position of the transmission path of the transmission device;

and/or the sorting equipment further comprises a third photoelectric sensor, the third photoelectric sensor is positioned on at least one side of the transmission path of the transmission device, and the sensing position of the third photoelectric sensor is the tail end position of the transmission path of the transmission device.

Optionally, the moving device includes a support frame and a moving bracket, the moving bracket is overlapped on the support frame and can move on the support frame, and the moving bracket is connected with the hatching egg taking and placing mechanism.

Optionally, the sorting apparatus further comprises a fourth photo-sensor; the fourth photoelectric sensor is positioned on the support frame, and the sensing position of the fourth photoelectric sensor is as follows: when the hatching egg taking and placing mechanism is located at a hatching egg detection position, the movable support is located on the support frame.

Optionally, the sorting apparatus further comprises a fifth photoelectric sensor; the fifth photoelectric sensor is positioned on the support frame, and the sensing position of the fifth photoelectric sensor is the moving head end position of the moving support frame on the support frame;

and/or the sorting equipment further comprises a sixth photoelectric sensor; the sixth photoelectric sensor is positioned on the support frame, and the sensing position of the sixth photoelectric sensor is the position of the tail end of the movable support in the movement of the support frame.

Optionally, the moving device further comprises a sliding block, and the sliding block is connected with the moving bracket in a sliding manner and is connected with the hatching egg taking and placing mechanism.

Optionally, the sliding block is fixedly connected with the hatching egg taking and placing mechanism.

Optionally, the sorting apparatus further comprises a seventh photo-sensor; the seventh photoelectric sensor is located on the movable support, and the sensing position of the seventh photoelectric sensor is as follows: when the hatching egg taking and placing mechanism is located at a hatching egg detection position, the movable support is connected with the sliding block.

Optionally, the sorting apparatus further comprises an eighth photoelectric sensor; the eighth photoelectric sensor is positioned on the movable support, and the sensing position of the eighth photoelectric sensor is the sliding head end position of the sliding block on the movable support;

and/or the sorting equipment further comprises a ninth photoelectric sensor; the ninth photoelectric sensor is located on the movable support, and the sensing position of the ninth photoelectric sensor is the sliding end position of the sliding block on the movable support.

Optionally, the hatching egg detection device comprises a weighing sensor and/or at least one shooting mechanism, the weighing sensor is located on the hatching egg taking and placing mechanism, and the shooting range of the at least one shooting mechanism comprises a hatching egg detection position.

The embodiment of the application also provides a sorting method, which is applied to sorting equipment, wherein the sorting equipment comprises an egg detection device, an egg taking and placing mechanism, a moving device and a control mechanism; the hatching egg detection device, the hatching egg taking and placing mechanism and the moving device are electrically connected with the control mechanism, the moving device can drive the hatching egg taking and placing mechanism to move, and the moving destination of the moving device comprises a sorting target position of the hatching egg;

the method comprises the following steps:

the control mechanism controls the hatching egg detection device to detect hatching eggs to obtain a detection result;

and the control mechanism controls the hatching egg taking and placing mechanism to pick up the hatching eggs according to the detection result and controls the moving device to move so as to drive the hatching egg taking and placing mechanism to move to the moving destination.

Optionally, the sorting equipment further comprises a tray, wherein an hatching egg fixing structure is arranged on the tray, and the tray is positioned on the conveying device;

accordingly, the method further comprises:

before the control mechanism controls the hatching egg detection device to detect hatching eggs, the control mechanism controls the transmission device to work, so that the tray reaches a hatching egg detection position.

Optionally, the sorting equipment further comprises a first photoelectric sensor, the first photoelectric sensor is located on at least one side of the transmission path of the transmission device, and the sensing position of the first photoelectric sensor is a hatching egg detection position;

correspondingly, the control mechanism controls the transmission device to work, so that the tray reaches the hatching egg detection position, and the control mechanism comprises:

the control mechanism controls the transmission device to work, and when the first photoelectric sensor senses an object, the tray is determined to reach the hatching egg detection position.

Optionally, the sorting apparatus further comprises a second photoelectric sensor; the second photoelectric sensor is positioned on at least one side of the transmission path of the transmission device, and the sensing position of the second photoelectric sensor is the head end position of the transmission path of the transmission device; accordingly, the control mechanism controls the transmission device to work and comprises: the control mechanism controls the transmission device to work when the second photoelectric sensor is determined to sense the object;

and/or the sorting equipment further comprises a third photoelectric sensor, the third photoelectric sensor is positioned on at least one side of the transmission path of the transmission device, and the sensing position of the third photoelectric sensor is the end position of the transmission path of the transmission device; accordingly, the method further comprises: and the control mechanism controls the transmission device to stop working when determining that the third photoelectric sensor senses the object.

Optionally, the moving device comprises a support frame and a moving bracket, the moving bracket is overlapped on the support frame, and the moving bracket is connected with the hatching egg taking and placing mechanism;

the controlling the mobile device to move comprises: and controlling the movable bracket to move on the support frame.

Optionally, the sorting apparatus further comprises a fourth photo-sensor; the fourth photoelectric sensor is positioned on the support frame, and the sensing position of the fourth photoelectric sensor is as follows: when the hatching egg taking and placing mechanism is located at a hatching egg detection position, the movable support is located on the support frame;

the method further comprises the following steps: and the control mechanism controls the movable support to stop moving when the fourth photoelectric sensor is determined to sense the object.

Optionally, the sorting apparatus further comprises a fifth photoelectric sensor; the fifth photoelectric sensor is positioned on the support frame, and the sensing position of the fifth photoelectric sensor is the moving head end position of the moving support frame on the support frame; the method further comprises the following steps: when the control mechanism determines that the fifth photoelectric sensor senses an object, the control mechanism controls the movable support to stop moving or move in the direction opposite to the original moving direction;

and/or the sorting equipment further comprises a sixth photoelectric sensor; the sixth photoelectric sensor is positioned on the support frame, and the sensing position of the sixth photoelectric sensor is the moving tail end position of the moving support frame on the support frame; the method further comprises the following steps: and the control mechanism controls the movable support to stop moving or move in the direction opposite to the original moving direction when the sixth photoelectric sensor is determined to sense the object.

Optionally, the moving device further comprises a sliding block, the sliding block is connected with the moving bracket in a sliding manner and is connected with the hatching egg taking and placing mechanism;

accordingly, the controlling the mobile device to move further comprises: and controlling the sliding block to slide on the movable bracket.

Optionally, the sorting apparatus further comprises a seventh photo-sensor; the seventh photoelectric sensor is located on the movable support, and the sensing position of the seventh photoelectric sensor is as follows: when the hatching egg taking and placing mechanism is located at a hatching egg detection position, the movable support is connected with the sliding block;

the method further comprises the following steps: and the control mechanism controls the sliding block to stop sliding when the seventh photoelectric sensor is determined to sense the object.

Optionally, the sorting apparatus further comprises an eighth photoelectric sensor; the eighth photoelectric sensor is positioned on the movable support, and the sensing position of the eighth photoelectric sensor is the sliding head end position of the sliding block on the movable support; the method further comprises the following steps: when the control mechanism determines that the eighth photoelectric sensor senses an object, the control mechanism controls the sliding block to stop sliding or slide in the direction opposite to the original sliding direction;

and/or the sorting equipment further comprises a ninth photoelectric sensor; the ninth photoelectric sensor is positioned on the movable support, and the sensing position of the ninth photoelectric sensor is the sliding tail end position of the sliding block on the movable support; the method further comprises the following steps: and when the control mechanism determines that the ninth photoelectric sensor senses an object, the control mechanism controls the sliding block to stop sliding or slide in the direction opposite to the original sliding direction.

Optionally, the hatching egg detection device comprises a weighing sensor and/or at least one shooting mechanism, the weighing sensor is positioned on the hatching egg taking and placing mechanism, and the shooting range of the at least one shooting mechanism comprises a hatching egg detection position;

control mechanism control hatching egg detection device detects hatching egg, obtains the testing result, includes: the control mechanism controls the hatching egg taking and placing mechanism to pick up hatching eggs to obtain a hatching egg weighing result of the weighing sensor; and/or the control mechanism controls the at least one shooting mechanism to shoot the hatching eggs to obtain images of the hatching eggs;

the detection result comprises the hatching egg weighing result and/or an image of the hatching egg.

In the sorting apparatus and method provided in the embodiment of the present application, the sorting apparatus includes: the hatching egg detection device, the hatching egg taking and placing mechanism, the moving device and the control mechanism; the hatching egg detection device, the hatching egg taking and placing mechanism and the moving device are electrically connected with the control mechanism, the moving device can drive the hatching egg taking and placing mechanism to move, and the moving destination of the moving device comprises the sorting target position of the hatching egg. Therefore, in the embodiment of the application, the moving device moves based on the control of the control mechanism and drives the hatching egg taking and placing mechanism to move to the sorting target position of the hatching eggs; so, be favorable to putting into the letter sorting target location with the hatching egg automatically, therefore, can solve current manual sorting mode inefficiency and damage the problem of hatching egg easily.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

Fig. 1 is a first schematic view of a sorting apparatus according to an embodiment of the present disclosure;

fig. 2 is a second schematic view of a sorting apparatus according to an embodiment of the present application;

fig. 3 is a third schematic view of a sorting apparatus according to an embodiment of the present application;

FIG. 4 is a schematic view of the connection between the control mechanism and the photoelectric sensor in the embodiment of the present application;

fig. 5 is a schematic view of an egg pick and place mechanism according to an embodiment of the present application;

FIG. 6 is an enlarged schematic view of a reversing valve provided in accordance with an embodiment of the present application;

FIG. 7 is an enlarged schematic view of a vacuum valve provided in an embodiment of the present application;

FIG. 8 is a schematic flow chart of a sorting method according to an embodiment of the present application;

in the drawings, the various drawing designations represent the following list of parts:

1. an egg detection device; 101. a first photographing mechanism; 1011. a first image pickup device; 1012. a first lamp body; 1013. a first light supplement plate; 102. a second photographing mechanism; 1021. a second image pickup device; 2. an egg picking and placing mechanism; 201. a weighing sensor; 202. a reversing valve 203, a vacuum valve 204, a telescopic frame 205 and a suction nozzle; 3. a mobile device; 4. a control mechanism; 5. a transmission device; 6. a first photoelectric sensor; 7. a second photoelectric sensor; 8. a third photoelectric sensor; 9. a fourth photoelectric sensor; 10. a fifth photoelectric sensor; 11. a sixth photoelectric sensor; 12. a seventh photo-sensor; 13. an eighth photoelectric sensor; 14. a ninth photosensor; 15. a support frame; 16. moving the support; 17. a slider; 18. a pneumatic tank; 19. a dark box; 20. a first placement device; a second placement device 21.

Detailed Description

The present application will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the examples provided herein are merely illustrative of the present application and are not intended to limit the present application. In addition, the following examples are provided as partial examples for implementing the present application, not all examples for implementing the present application, and the technical solutions described in the examples of the present application may be implemented in any combination without conflict.

It should be noted that in the embodiments of the present application, the terms "comprises", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion, so that a method or apparatus including a series of elements includes not only the explicitly recited elements but also other elements not explicitly listed or inherent to the method or apparatus. Without further limitation, the use of the phrase "including a. -. said." does not exclude the presence of other elements (e.g., steps in a method or elements in a device, such as portions of circuitry, processors, programs, software, etc.) in the method or device in which the element is included.

For example, the sorting apparatus provided in the embodiment of the present application includes a series of devices, but the apparatus provided in the embodiment of the present application is not limited to include explicitly described devices, and also includes devices that need to be set for acquiring relevant information or performing processing based on the information.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Fig. 1 is a first schematic diagram of a sorting device provided in an embodiment of the present application, fig. 2 is a second schematic diagram of a sorting device provided in an embodiment of the present application, and fig. 3 is a third schematic diagram of a sorting device provided in an embodiment of the present application; as shown in fig. 1, the sorting apparatus may include an hatching egg detecting device 1, a hatching egg pick-and-place mechanism 2, a moving device 3, and a control mechanism 4; the hatching egg detection device 1, the hatching egg taking and placing mechanism 2 and the moving device 3 are electrically connected with the control mechanism 4; referring to fig. 2 and 3, the moving device 3 can move the hatching egg picking and placing mechanism 2, and the moving destination of the moving device 3 includes the sorting target position of the hatching egg.

Here, the hatching egg detection apparatus 1 may acquire identification information of the hatching egg by detecting the hatching egg under the control of the control means 4; the identification information of the hatching egg may include shape information of the hatching egg, weight information of the hatching egg, or other characteristic information for identifying the hatching egg. The hatching egg taking and placing mechanism 2 can pick up or place down hatching eggs under the control of the control mechanism 4; the moving device 3 can move to a sorting target position of the hatching eggs under the control of the control mechanism 4, and the sorting target position of the hatching eggs can be determined according to actual requirements, for example, the sorting target position of the hatching eggs is located at a hatching egg placing position in the tray; the moving device 3 can also return to an initial position under the control of the control mechanism 4, where the initial position can be a hatching egg detection position, and the hatching egg detection position can be predetermined according to actual needs.

It can be seen that, in the embodiment of the application, the moving device moves based on the control of the control mechanism and drives the hatching egg taking and placing mechanism to move to the target position of the sorting of the hatching eggs; so, be favorable to putting into the letter sorting target location with the hatching egg automatically, therefore, can solve current manual sorting mode inefficiency and damage the problem of hatching egg easily.

As an embodiment, the hatching egg detection device 1 is configured to acquire identification information of a hatching egg, and determine whether the hatching egg meets a preset sorting condition according to the identification information of the hatching egg; for example, the preset sorting condition may be a condition for identifying whether the hatching eggs have hatching characteristics.

In the embodiment of the present invention, the hatching egg detection apparatus 1 may include a camera mechanism configured to determine attribute information of a hatching egg according to identification information of the hatching egg; in practical application, after the image of the hatching egg is acquired by the camera mechanism, the image can be uploaded to the control mechanism 4, and the image of the hatching egg is analyzed by the control mechanism 4, so that the attribute information of the hatching egg is determined.

According to the technical scheme, the hatching egg attribute information such as the big-end and small-end positions of the hatching eggs is acquired, so that the hatching eggs screened according to the information are closer to the hatching standard, and the hatching rate of the hatching eggs is improved; in addition, the damage information of the hatching egg is identified in an image identification mode, and the accuracy and the identification efficiency of the damage information of the hatching egg are improved.

In an embodiment of the present invention, the preset sorting condition may include at least one of: the big heads of the hatching eggs are on, and the hatching eggs are not damaged; in practical application, a damage degree threshold of the hatching egg can be set according to actual hatching rate requirements, when the damage degree represented by the damage information of the hatching egg is smaller than the damage degree threshold of the hatching egg, the hatching egg can be considered as not damaged, and when the damage degree represented by the damage information of the hatching egg is larger than or equal to the damage degree threshold of the hatching egg, the hatching egg can be considered as damaged; illustratively, the breakage threshold for an hatching egg may comprise a fracture number threshold for the hatching egg and/or a fracture depth threshold for the hatching egg;

further, the hatching egg detection device 1 may further include a weighing sensor for weighing the hatching egg to obtain the weight of the hatching egg; the weighing sensor can be arranged on the hatching egg taking and placing mechanism 2 and also can be arranged at a hatching egg detection position; weighing sensor can upload the weight information of the hatching egg that acquires to control mechanism 4, and control mechanism 4 can carry out the letter sorting of hatching egg according to the weight information of hatching egg.

As an embodiment, when the hatching egg detecting apparatus 1 includes both the above-described image pickup mechanism and the weighing sensor, the preset sorting condition may include at least one of: the big heads of the hatching eggs are on, the hatching eggs are not damaged, and the weight of the hatching eggs is within the designated weight interval. Here, the designated weight section may be a weight section determined according to different hatching egg types, for example, the designated weight section may be 60g to 80g when the hatching egg is an egg, the designated weight section may be 5g to 15g when the hatching egg is a quail egg, and further, the designated weight section may be set according to actual hatching rate requirements for a certain kind of hatching egg.

In a first specific example, when the egg is determined to be overhead, the egg is not broken and the estimated weight of the egg is within a specified weight interval according to the attribute information of the egg, the egg is determined to meet a preset sorting condition; when the fact that the small heads of the hatching eggs are on, or the hatching eggs are damaged or the estimated weight of the hatching eggs is not in the designated weight interval is determined through the attribute information of the hatching eggs, the fact that the hatching eggs do not meet the preset sorting condition is determined; in a second specific example, when the big end of the hatching egg is determined to be above by the attribute information of the hatching egg and the hatching egg is not broken, the hatching egg is determined to meet the preset sorting condition; when the fact that the small heads of the hatching eggs are on or the hatching eggs are damaged is determined through the attribute information of the hatching eggs, the fact that the hatching eggs do not meet the preset sorting condition is determined; in a third specific example, when the big end of the hatching egg is determined to be on top through the attribute information of the hatching egg and the estimated weight of the hatching egg is in a specified weight interval, the hatching egg is determined to meet the preset sorting condition, and when the small end of the hatching egg is determined to be on top through the attribute information of the hatching egg or the estimated weight of the hatching egg is not in the estimated weight interval, the hatching egg is determined not to meet the preset sorting condition; in a fourth specific example, when it is determined that the big end of the hatching egg is above by the attribute information of the hatching egg, it is determined that the hatching egg satisfies the preset sorting condition, and when it is determined that the small end of the hatching egg is above by the attribute information of the hatching egg, it is determined that the hatching egg does not satisfy the preset sorting condition.

In this application embodiment, control mechanism 4 can be through the removal of control mobile device 3, drives the hatching egg and gets and put mechanism 2 and remove to the letter sorting target location of hatching egg is put into to the hatching egg that will satisfy preset letter sorting condition. It should be noted that, for the hatching eggs which do not satisfy the preset sorting condition, the control mechanism 4 can directly control the hatching egg pick-and-place mechanism 2 to place the hatching eggs back to the original positions, and the hatching eggs which do not satisfy the preset sorting condition cannot be placed at the sorting target positions of the hatching eggs.

It can be seen that because the hatching eggs meeting the preset sorting conditions can be automatically placed into the sorting target positions, the problems that the existing manual sorting mode is low in efficiency and the hatching eggs are easily damaged can be solved.

Optionally, referring to fig. 3, the sorting apparatus further includes a conveying device 5 and a tray (not shown in the figure), the tray is located on the conveying device 5, and the tray is provided with an egg fixing structure. In practice, with reference to fig. 1, the transfer device 5 may be connected to the control mechanism 3 for movement or to remain stationary under the control of the control mechanism 3. The conveying device 5 may be a conveyor belt or other devices for conveying hatching eggs, and the hatching egg fixing structure on the tray may be at least one groove, each of which may be used for placing a hatching egg, so that the tray of hatching eggs is maintained in a vertical state during movement.

Understandably, can be with during the vertical hatching egg fixed knot who puts into the tray of hatching egg constructs before detecting the hatching egg, and then be favorable to making the hatching egg vertical fixed the placing in the testing process, avoided causing the hatching egg damaged because of reasons such as roll.

Optionally, referring to fig. 3, the sorting apparatus further includes a first photoelectric sensor 6, the first photoelectric sensor 6 is located on at least one side of the transmission path of the transmission device 5, and the sensing position of the first photoelectric sensor 6 is a hatching egg detection position; that is, the first photoelectric sensor 6 may be located on one side or both sides of the transmission path of the transmission device 5, and in the embodiment of the present application, the sensing principle of the photoelectric sensor may be: the transmitting end of the photoelectric sensor sends out optical signals, and under the condition that the sent optical signals are not shielded by an object and are shielded by the object, the intensity of the optical signals received by the photoelectric sensor is different, so that whether the object exists in the sensing position of the photoelectric sensor can be determined according to the intensity of the optical signals received by the photoelectric sensor.

Illustratively, for the photoelectric sensor disposed on at least one side of the transmission path of the transmission device 5, for example, for the first photoelectric sensor 6, the emitting end and the receiving end of the first photoelectric sensor 6 are both located on the same side, or the emitting end and the receiving end of the first photoelectric sensor 6 are oppositely disposed on both sides of the transmission path.

Fig. 4 is a schematic diagram illustrating the connection between the control mechanism and the photoelectric sensor in the embodiment of the present application, and as shown in fig. 4, the first photoelectric sensor 6 is connected to the control mechanism 4; the first photoelectric sensor 6 can send a signal obtained by sensing to the control mechanism 4, and the control mechanism 4 can control the transmission device 5 to stop moving when determining that an object exists at the sensing position of the photoelectric sensor according to the received signal; in the embodiment of this application, when the tray of placing breeding eggs passes through transmission and removes, if first photoelectric sensing ware 6 senses the object, then explain that the tray reaches breeding eggs and detect the position, at this moment, can control transmission stop motion to in carrying out breeding eggs and detect.

It can be seen that through setting up a photoelectric sensing ware, can detect whether the tray accurately reachs hatching egg and detect the position, be favorable to realizing that the hatching egg detects, promote the efficiency that the hatching egg detected.

Optionally, referring to fig. 3, the sorting apparatus further includes a second photoelectric sensor 7, the second photoelectric sensor 7 is located on at least one side of the transmission path of the transmission device 5, that is, the second photoelectric sensor 7 may be located on one side or both sides of the transmission path of the transmission device 5; the sensing position of the second photoelectric sensor 6 is the head end position of the transmission path of the transmission device 5, and here, the head end position of the transmission path of the transmission device 5 may be set in advance.

Optionally, referring to fig. 3, the sorting apparatus further includes a third photo-sensor 8, where the third photo-sensor 8 is located on at least one side of the transmission path of the transmission device 5, that is, the third photo-sensor 8 may be located on one side or both sides of the transmission path of the transmission device 5; the sensing position of the third photosensor 8 is the end position of the transmission path of the transmission device 5, where the end position of the transmission path of the transmission device 5 can be set in advance.

Referring to fig. 4, the second photosensor 7 may be connected to the control mechanism 4; the third photoelectric sensor 8 can be connected to the control means 4. The second photoelectric sensor 7 can send the sensed signal to the control mechanism 4, and the control mechanism 4 can control the transmission device 5 to start moving when determining that an object exists at the sensing position of the second photoelectric sensor 7 according to the received signal; in the embodiment of the application, when the tray placed with hatching eggs is placed at the head end position of the transmission path of the transmission device 5, the tray can be sensed by the first photoelectric sensor 6, and at the moment, the control mechanism 4 can control the transmission device 5 to start moving, so that the tray moves to the hatching egg detection position.

It can be seen that by providing the second photoelectric sensor 7, it is possible to detect whether the tray accurately reaches the head end of the transmission path of the transmission device, which is advantageous for determining when to start sorting of hatching eggs.

The third photoelectric sensor 8 can send the sensed signal to the control mechanism 4, and the control mechanism 4 can control the transmission device 5 to stop moving when determining that an object exists at the sensing position of the third photoelectric sensor according to the received signal; in the embodiment of the application, when the tray with the hatching eggs is placed at the end position of the transmission path of the transmission device 5, the third photoelectric sensor 8 can sense the tray, and at the moment, the control mechanism 4 can control the transmission device 5 to stop moving, so that the tray cannot fall off from the transmission device 5; further, the control mechanism 5 may send a prompt message to prompt the user to remove the tray from the conveying device 5 when it is determined that the tray is sensed by the third photoelectric sensor 8.

It can be seen that by providing the third photosensor 8, it is possible to detect whether the tray has accurately reached the end of the transport path of the transport device 5, facilitating the determination of when to end the sorting of the hatching eggs.

In a specific example, the conveying device 5 is a conveyor belt, the number of the first photoelectric sensors 6 is 2, and two first photoelectric sensors 7 are arranged up and down, wherein one first photoelectric sensor 6 is used for detecting whether the upper part of the hatching egg appears at a hatching egg detection position, and the other first photoelectric sensor 6 is used for detecting whether the tray appears at the hatching egg detection position; in specific implementation, when the second photoelectric sensor 7 detects that light is shielded by an object, the control mechanism 4 controls the conveyor belt to start moving through interaction between the second photoelectric sensor 7 and the control mechanism 4; when the two first photoelectric sensors detect that light is blocked by an object, the control mechanism 4 controls the conveyor belt to stop moving through the interaction between the first photoelectric sensors 6 and the control mechanism 4, and controls the hatching egg detection device 1 to detect hatching eggs, wherein the specific detection mode is described in the foregoing embodiment; when confirming through hatching egg detection device 1 that the tray has not satisfied the hatching egg of predetermineeing the letter sorting condition, control mechanism 4 control conveyer belt begins to remove once more, when being equipped with the tray that does not satisfy the seed egg of predetermineeing the letter sorting condition and moving to transmission device 5's transmission path's terminal position along with the conveyer belt when being equipped with, third photoelectric sensing ware 8 detects light and is sheltered from by the object, at this moment, through the interaction of third photoelectric sensing ware 8 with control mechanism 4, by control mechanism 4 control conveyer belt stop movement, be favorable to preventing that the tray from dropping from the end of conveyer belt.

Optionally, referring to fig. 3, the moving device 3 may further include a supporting frame 15 and a moving frame 16, the moving frame is overlapped on the supporting frame 15 and can move on the supporting frame 15, and the moving frame 16 is connected with the hatching egg picking and placing mechanism 2 (not shown in fig. 3). Here, the supporting frames 15 intersect with the movable support 16, in practical applications, the number and the placement positions of the supporting frames 15 may be set according to the actual demands for egg sorting, for example, two supporting frames 15 may be set and placed in parallel on two sides of the egg detection position and the egg sorting target position, further, the intersection angle between the supporting frames and the movable support may also be set according to the actual demands for egg sorting, for example, the intersection angle between the supporting frames and the movable support may be 90 ° intersection on the horizontal plane, or may be other angles intersection on the horizontal plane.

It can be seen that, through the arrangement of the supporting frame 15 and the moving bracket 16, the moving device 3 can drive the hatching egg taking and placing mechanism 2 to move.

Optionally, referring to fig. 3, the sorting apparatus may further include a fourth photoelectric sensor 9; the fourth photoelectric sensor 9 is located on the supporting frame 15, and the sensing position of the fourth photoelectric sensor 9 is: when the hatching egg taking and placing mechanism 2 is at the hatching egg detection position, the position of the movable bracket 16 on the support frame 15 is moved.

Referring to fig. 4, the fourth photoelectric sensor 9 is connected to the control mechanism 4; fourth photoelectric sensing ware 9 can send the signal that the response obtained to control mechanism 4, and when control mechanism 4 confirmed that fourth photoelectric sensing ware 9's response position has the object according to the signal received, can control the stop motion of the removal support 16 among the mobile device 3, so, be convenient for carry out hatching egg and detect.

Optionally, referring to fig. 3, the sorting apparatus may further include a fifth photoelectric sensor 10; the fifth photoelectric sensor 10 is positioned on the support frame 15, and the sensing position of the fifth photoelectric sensor 10 is the moving head end position of the moving support 16 on the support frame 15; the position of the movable support 16 at the head end of the movement of the support frame 15 may be preset.

Optionally, referring to fig. 3, the sorting apparatus may further include a sixth photoelectric sensor 11; the sixth photoelectric sensor 11 is positioned on the support frame 15, and the sensing position of the sixth photoelectric sensor 11 is the moving end position of the moving support 16 on the support frame 15; here, the moving bracket 16 may be previously set at the end position of the movement of the supporting frame 15.

Referring to fig. 4, the fifth photosensor 10 may be connected to the control mechanism 4; the sixth photoelectric sensor 11 may be connected to the control mechanism 4. The fifth photoelectric sensor 10 can send the sensed signal to the control mechanism 4, and when the control mechanism 4 determines that an object exists at the sensed position of the fifth photoelectric sensor 10 according to the received signal, the control mechanism can control the moving support 16 in the moving device 3 to move in the direction opposite to the original moving direction.

The sixth photoelectric sensor 11 can send the sensed signal to the control mechanism 4, and when the control mechanism 4 determines that an object exists at the sensed position of the sixth photoelectric sensor 11 according to the received signal, the control mechanism can control the moving support 16 in the moving device 3 to move in the direction opposite to the original moving direction.

Optionally, referring to fig. 3, the moving device 3 may further include a sliding block 17, and the sliding block 17 is slidably connected to the moving bracket 16 and connected to the hatching egg taking and placing mechanism 2; optionally, the slide block 17 is fixedly connected with the hatching egg taking and placing mechanism 2. It can be seen that the slide block 17 can slide on the moving bracket, so as to drive the hatching egg taking and placing mechanism 2 to move.

As an embodiment, the moving manner of the moving bracket 16 and the sliding block 17 may be that toothed belts are disposed on the supporting frame 15 and the moving bracket 16, the moving bracket 16 and the sliding block 17 are respectively mounted on the toothed belts of the supporting frame 15 and the moving bracket 16, and then the toothed belts are driven by a motor to rotate, so as to drive the moving bracket 16 and the sliding block 17 to move, or the moving bracket 16 and the sliding block 17 may be driven to move by screw transmission, rack transmission or other manners.

It can be seen that the moving device 3 is moved by the moving support 16 or the sliding block 17, so that the egg picking and placing mechanism 2 is driven to move to the egg detecting position, and meanwhile, the moving support 16 or the sliding block 17 is used for driving the egg picking and placing mechanism 2 to move to the egg sorting target position.

Optionally, referring to fig. 3, the sorting apparatus may further include a seventh photo-sensor 12; the seventh photoelectric sensor 12 is located on the movable support 16, and the sensing position of the seventh photoelectric sensor 12 is: when the hatching egg taking and placing mechanism 2 is at the hatching egg detection position, the movable bracket 16 is connected with the slide block 17.

Referring to fig. 4, the seventh photoelectric sensor 12 is connected to the control mechanism 4; the seventh photoelectric sensor 12 can send the signal obtained by sensing to the control mechanism 4, and when the control mechanism 4 determines that an object exists at the sensing position of the seventh photoelectric sensor 12 according to the received signal, the control mechanism can control the sliding block 16 in the moving device 3 to stop moving, so that the hatching egg detection is facilitated.

Optionally, referring to fig. 3, the sorting apparatus may further include an eighth photoelectric sensor 13, where the eighth photoelectric sensor 13 is located on the moving support 16, and a sensing position of the eighth photoelectric sensor 13 is a head position of the sliding block 17 sliding on the moving support 16; the position of the head end of the slider 17 sliding on the movable bracket 16 may be set in advance.

Optionally, referring to fig. 3, the sorting apparatus may further include a ninth photo-sensor 14; the ninth photoelectric sensor 14 is located on the moving bracket 16, and a sensing position of the ninth photoelectric sensor 14 is an end position of the sliding block 17 sliding on the moving bracket 16. The end position of the slider 17 at which the moving bracket 16 slides may be preset.

Referring to fig. 4, the eighth photosensor 13 may be connected to the control mechanism 4; the ninth photosensor 14 may be connected to the control mechanism 4. The eighth photoelectric sensor 13 can send the sensed signal to the control mechanism 4, and when the control mechanism 4 determines that an object exists at the sensed position of the eighth photoelectric sensor 13 according to the received signal, the control mechanism can control the sliding block 17 in the moving device 3 to move in the direction opposite to the original moving direction.

The ninth photoelectric sensor 14 can send the sensed signal to the control mechanism 4, and when the control mechanism 4 determines that an object exists at the sensed position of the ninth photoelectric sensor 14 according to the received signal, the control mechanism can control the slider 17 in the moving device 3 to move in the direction opposite to the original moving direction.

For example, the hatching egg detection apparatus 1 may include at least one shooting mechanism, and optionally, each shooting mechanism of the at least one shooting mechanism may include: a photoelectric sensor and a camera device; the sensing position of a photoelectric sensor in each shooting mechanism is the shooting position of the camera device; the photoelectric sensor and the camera device in each shooting mechanism are connected with the control mechanism 4. In practical application, the control mechanism 4 controls the transmission device 5 to move, and when the tray bearing the hatching eggs reaches the hatching egg detection position, the transmission device 5 can be controlled to stop moving; at this moment, the control mechanism 4 can control the movable support 16 to move, and/or can control the hatching egg taking and placing mechanism 2 to pick up the hatching eggs, so that the hatching eggs reach the shooting positions, the photoelectric sensor of each shooting mechanism can sense an object, at this moment, the control mechanism 4 controls the camera device to shoot the hatching eggs, the camera device can upload the images of the shot hatching eggs to the control mechanism 4, and the control mechanism 4 can judge whether the hatching eggs meet the preset sorting conditions according to the images of the hatching eggs.

Referring to fig. 2, the at least one photographing device may include a first photographing device 101 and a second photographing device 102, the first photographing device 101 is configured to photograph an exposed surface of an egg at a first photographing position, and the egg may be moved to the photographing position by cooperation of the transmission device 5 and the moving device 3, so that the exposed surface of the egg in this embodiment refers to an exposed surface of the egg placed on the transmission device 5, and thus, an image of the egg at the exposed surface is photographed, and not only data information of an abnormal egg image except dark lines can be acquired, but also the size of the egg can be determined, the first photographing device 101 may transmit the image of the egg to the control device 4, and the control device 3 performs data processing and analysis to obtain positioning mark information of the abnormal egg.

Because the shooting recognition of the dark-streaked eggs and the shooting recognition of other abnormal eggs need to use different shooting modes, the second shooting mechanism 102 is added to the first shooting mechanism 101 in the present embodiment, the second shooting mechanism 102 of the present embodiment is used for shooting the whole body of the hatching egg (i.e., shooting the whole hatching egg) at the second shooting position to obtain the dark-streaked information of the hatching egg, the second shooting mechanism 102 transmits the shot image of the hatching egg to the control mechanism 4, and the control mechanism 3 performs data processing and analysis to obtain the positioning mark information of the hatching egg.

The first photographing mechanism 101 and the second photographing mechanism 102 of the present embodiment have various structural forms, for example, as shown in fig. 2, the first photographing mechanism 101 of the present embodiment may include a tenth photoelectric sensor (not shown in the figure), a first image pickup device 1011 and a first lamp body 1012, and the first image pickup device 1011 is connected to the control mechanism 4; in this embodiment, the first camera 1011 can be a camera, and the first lamp 12 can be a Light Emitting Diode (LED) lamp, optionally, the LED lamp is an annular lamp structure, so as to ensure uniformity of Light.

In order to improve the accuracy of shooting and prevent the influence of the external environment on the shooting, referring to fig. 2 and 3, the sorting apparatus of the embodiment may further include a pneumatic box 18, and the pneumatic box 18 may be used to shield the external environment light; the first shooting device 1011 is located in the pneumatic box 18, the inner wall of the pneumatic box 18 is provided with a first light supplement plate 1013, optionally, the control mechanism 4 of the present embodiment is also installed in the pneumatic box 18, and the bottom of the pneumatic box 4 is provided with an opening so as to allow a tray containing hatching eggs to pass through.

Accordingly, the second camera 102 of the present embodiment includes an eleventh photo sensor (not shown), a second camera 1021, and a second lamp (not shown); the sensing position of the eleventh photoelectric sensor is the second shooting position of the second camera device 1021, the control mechanism 4 is connected with the eleventh photoelectric sensor, the second camera device 1021 and the second lamp body, and the control mechanism 4 can open and close the second camera device 1021 according to the sensing result of the eleventh photoelectric sensor. Similarly, the second camera device 1021 is a camera, and the second lamp body is an LED lamp.

In order to improve the shooting accuracy, referring to fig. 2, the sorting apparatus provided in this embodiment may further include a second dark box 19, the second shooting position is located in the dark box 19, a second light supplement plate (not shown) is disposed on an inner wall of the dark box 19, optionally, the dark box 19 is located in the pneumatic box 18, and the eleventh photoelectric sensor, the second camera 1021, and the second lamp are located in the dark box 19.

In order to improve the shooting effect, the number of the second camera devices 1021 in the embodiment is at least two, and the two second camera devices 1021 are respectively located on two sides of the hatching egg taking and placing mechanism 2 in the conveying direction of the conveying device.

In one embodiment, the hatching eggs need to be weighed in the sorting process, and are graded according to the weight, in the related technology, the weighing modes of the hatching eggs are manual weighing, so that the accuracy and the efficiency are not accurate enough, and the problem of damaging the hatching eggs is easy to occur; in the present embodiment, the hatching egg detecting apparatus 1 may include a load cell. Fig. 5 is a schematic view of an egg picking and placing mechanism according to an embodiment of the present application, and referring to fig. 5, a load cell 201 is located on the egg picking and placing mechanism 2.

Weighing sensor 201 can weigh when hatching egg is picked up at hatching egg pick-and-place mechanism 2, in an embodiment, can at first carry out the analysis to the image of the hatching egg that first shooting device 1011 was shot, when confirming that the hatching egg does not satisfy preset letter sorting condition, can not pick up the hatching egg, promptly, does not satisfy the hatching egg of preset letter sorting condition and go on, improves the degree of accuracy that the hatching egg weighed.

In one embodiment, in the present embodiment, the hatching egg picking and placing mechanism 2 is installed in the dark box 19, so that after the hatching egg picking and placing mechanism 2 picks up the hatching egg, the second camera 1021 can shoot the lower surface of the hatching egg, that is, the hatching egg picking and placing mechanism 2 can also perform auxiliary shooting in addition to weighing the hatching egg.

Referring to fig. 5, the hatching egg taking and placing mechanism 2 of the present embodiment may include a reversing valve 202, a vacuum valve 203, an expansion bracket 204, a suction nozzle 205, and an air conduit (not shown in the figure), which are arranged from top to bottom, wherein the weighing sensor 201 is located between the expansion bracket 204 and the suction nozzle 205, the vacuum valve 203 is used for controlling the suction nozzle 205 communicated with the lower portion of the expansion bracket 204 to suck or release a hatching egg, and the reversing valve 202 is used for controlling the expansion bracket 204 sleeved in the air conduit to drive the suction nozzle 205 to ascend or descend in a vertical direction; specifically, the air duct and the telescopic frame 204 are both hollow structures, the upper part of the telescopic frame 204 is connected with a piston, the piston and the upper part of the telescopic frame 204 are sleeved in the air duct, the piston and the telescopic frame 204 are in close contact with the air duct, and the lower part of the telescopic frame 204 is communicated with the suction nozzle 205 through the weighing sensor 201; an upper communicating port and a lower communicating port are arranged between the reversing valve 202 and the air conduit, the piston moves between the upper communicating port and the lower communicating port, the air conduit is divided into an upper area and a lower area by the piston, and a communicating port is arranged between the vacuum valve 203 and the telescopic frame 204. Optionally, a lighting device may also be provided within the suction nozzle 205 for illuminating the hatching egg.

Further, as shown in fig. 6, an enlarged schematic view of a reversing valve provided in the embodiment of the present application is provided, and as shown in fig. 7, an enlarged schematic view of a vacuum valve provided in the embodiment of the present application is provided.

In the practical application process, firstly, the switch between the reversing valve 202 and the upper communication port of the air conduit is opened, namely, air enters the upper area of the air conduit, the lower communication port of the air conduit is vacuumized, and then the switch between the reversing valve 202 and the lower communication port of the air conduit is closed, at the moment, because the air pressure of the lower area of the air conduit is smaller than that of the upper area of the air conduit, the piston moves downwards under the action of the air pressure difference, and the expansion bracket 204 and the suction nozzle 205 are driven to move downwards simultaneously; on the other hand, the communicating port on the air conduit can be vacuumized through the reversing valve 202, then the switch between the communicating port and the upper communicating port of the air conduit is closed, and the switch between the communicating port and the lower communicating port of the air conduit is opened at the same time, namely, air enters the lower area of the air conduit, at the moment, because the air pressure of the upper area of the air conduit is smaller than that of the lower area of the air conduit, under the action of air pressure difference, the piston moves upwards, and then the expansion bracket 204 and the suction nozzle 205 are driven to move upwards at the same time, so that the expansion bracket 204 and the suction nozzle 205 can ascend or descend in the vertical direction; further, when the telescopic frame 204 and the suction nozzle 205 are controlled to move downwards by the reversing valve 202, and the suction nozzle 205 is in close contact with the hatching egg, the vacuum valve 203 closes the switch between the communication ports of the telescopic frame 204, the suction nozzle 205 and the hatching egg, and the communication area between the telescopic frame 204, the suction nozzle 205 and the hatching egg is vacuumized, at this time, the air pressure of the communication area between the telescopic frame 204, the suction nozzle 205 and the hatching egg is less than the external air pressure, so that the suction nozzle 205 can firmly suck the hatching egg, on the other hand, when the suction nozzle 205 sucks the hatching egg, the switch between the communication ports of the telescopic frame 204 and the suction nozzle 205 is opened by the vacuum valve 203, even if the air enters the communication area between the telescopic frame 204, the suction nozzle 4 and the hatching egg, at this time, because the air pressure of the communication area between the telescopic frame 204, the suction nozzle 205 and the hatching egg is equal, the telescopic frame 204 and the suction nozzle 205 can suck or release the hatching eggs.

The technical scheme of this application can realize grabbing the hatching egg or putting down in vertical direction through hatching egg taking and putting mechanism, and then guarantees can not cause the hatching egg damage because of the collision at the in-process of placing the target position with the hatching egg, has improved the hatchability of hatching egg.

In a specific application embodiment, referring to fig. 3, the moving device 3 includes a conveying device 5, a pneumatic box 18, a first placing device 20, a second placing device 21 and a truss, the first placing device 20 or the second placing device 21 may include a plurality of egg trays, each of which is used for fixing an hatching egg, and the first placing device 20 and the second placing device 21 may be located at both sides of the conveying device 5; the support frame 15 is an X axis of the truss, the movable support 16 is a Y axis of the truss, and the X axis of the truss is vertical to the Y axis; the movable support 16 is used for carrying and moving the pneumatic box 18, and can drive the pneumatic box 18 to move along the X axis; the sliding block 17 can be in sliding connection with the mobile support 16 through a tank chain, and the tank chain can assist the pneumatic box 18 to move on the truss quickly and freely; three photoelectric sensors, namely a fourth photoelectric sensor 9, a fifth photoelectric sensor 10 and a sixth photoelectric sensor 11, are arranged on the X axis of the truss; the fourth photosensor 9 is in a position aligned in the Y-axis direction with the hatching egg detection position, for example, the fourth photosensor 9 is in a position aligned with the first row of egg trays (i.e., the row of egg trays closest to the end of the transmission path of the transmission device) of the first placing device 20 or the second placing device 21; the fifth photoelectric sensor 10 and the sixth photoelectric sensor 11 are respectively located at two ends of the support frame 15 and used for limiting the moving position of the moving support; an iron sheet for shading is arranged at the intersection of the Y axis and the X axis of the truss, when the movable support moves to the position of the fifth photoelectric sensor 10 or the sixth photoelectric sensor 11 along the X axis, the iron sheet is positioned in a groove of the fifth photoelectric sensor 10 or the sixth photoelectric sensor 11 and can shade light rays emitted by the corresponding photoelectric sensor, and when the control mechanism determines that the light rays emitted by the photoelectric sensors are shaded, the Y axis of the truss is controlled to stop moving or move in the direction opposite to the original moving direction, and the Y axis of the truss cannot fall off from the X axis of the truss; three photoelectric sensors, namely a seventh photoelectric sensor 12, an eighth photoelectric sensor 13 and a ninth photoelectric sensor 14, are arranged on the Y axis of the truss; the seventh photoelectric sensor 12 is located at a position aligned with the hatching egg detection position in the X-axis direction, and the eighth photoelectric sensor 13 and the ninth photoelectric sensor 11 are located at both ends of the moving bracket 16, respectively, for restricting the moving position of the slider.

In the embodiment of the present application, the structural form of the control mechanism 4 may be various, for example, it may include a Programmable Logic Controller (PLC) and a motor, and the control mechanism 4 may drive the X-axis and the Y-axis of the truss to move through the motor; the control mechanism can analyze the received image information and/or the weight information of the hatching eggs, and according to the analysis result, the hatching eggs meeting the preset sorting condition are placed into the first placing devices 20 and the second placing devices 21 on the two sides of the conveyor belt through the hatching egg taking and placing mechanism; optionally, the control mechanism 4 may also put the hatching eggs with different weight grades into different egg trays in a grading manner according to the weight indexes through the hatching egg taking and placing mechanism according to the weight information of the hatching eggs.

Aiming at the sorting equipment in the embodiment of the application, the embodiment of the application also provides a sorting method, and the sorting method is applied to the sorting equipment.

Fig. 8 is a schematic flow chart of a sorting method provided in an embodiment of the present application, and as shown in fig. 8, the method includes the following steps:

s801: the control mechanism 4 controls the hatching egg detection device 1 to detect hatching eggs to obtain a detection result;

s802: the control mechanism 4 controls the hatching egg picking and placing mechanism 2 to pick up the hatching eggs according to the detection result, and controls the moving device 3 to move so as to drive the hatching egg picking and placing mechanism 2 to move to the moving destination.

In practical applications, the steps S801 and S802 may be implemented by a Processor in the sorting apparatus, and the Processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understood that the electronic devices for implementing the processor functions described above may be other for different sorting apparatuses, and the embodiments of the present application are not particularly limited.

Optionally, the method further comprises:

before the control mechanism 4 controls the hatching egg detection device 1 to detect hatching eggs, the control mechanism 4 controls the transmission device 5 to work, so that the tray reaches a hatching egg detection position.

Optionally, the control mechanism 4 controls the conveying device 5 to operate, so that the tray reaches the hatching egg detection position, including: the control mechanism 4 controls the transmission device 5 to work, and when the first photoelectric sensor 6 is determined to sense the object, the tray is determined to reach the hatching egg detection position.

Optionally, the control mechanism 4 controls the operation of the transmission device 5, and includes: the control mechanism 4 controls the transmission device 5 to work when determining that the second photoelectric sensor 7 senses the object;

and/or, the method further comprises: and the control mechanism 4 controls the transmission device 5 to stop working when determining that the third photoelectric sensor 8 senses the object.

Optionally, the controlling the moving device 3 to move includes: controlling the moving bracket 16 to move on the supporting frame 15.

Optionally, the method further comprises: the control mechanism 4 controls the moving support 16 to stop moving when determining that the fourth photoelectric sensor 9 senses an object.

Optionally, the method further comprises: when the control mechanism 4 determines that the fifth photoelectric sensor 10 senses an object, the control mechanism controls the moving support 16 to stop moving or move in the direction opposite to the original moving direction;

and/or, the control mechanism 4 controls the moving support 16 to stop moving or move in the direction opposite to the original moving direction when determining that the sixth photoelectric sensor 11 senses the object.

Optionally, the controlling the moving device 3 to move further includes: the sliding block 17 is controlled to slide on the moving bracket 15.

Optionally, the sliding block 17 is fixedly connected with the hatching egg taking and placing mechanism 2.

Optionally, the method further comprises: the control mechanism 4 controls the sliding block 17 to stop sliding when determining that the seventh photoelectric sensor 12 senses an object.

Optionally, the method further comprises: when the control mechanism 4 determines that the eighth photoelectric sensor 13 senses an object, the control mechanism controls the sliding block 17 to stop sliding or slide in the direction opposite to the original sliding direction;

and/or, the control mechanism 4 controls the sliding block 17 to stop sliding or slide in the opposite direction of the original sliding direction when determining that the ninth photoelectric sensor 14 senses the object.

Optionally, the control mechanism 4 controls the hatching egg detection apparatus 1 to detect a hatching egg to obtain a detection result, including: the control mechanism 4 controls the hatching egg taking and placing mechanism 2 to pick up hatching eggs, and a hatching egg weighing result of the weighing sensor 201 is obtained; and/or the control mechanism 4 controls the at least one shooting mechanism to shoot the hatching eggs to obtain images of the hatching eggs;

The specific implementation of the sorting method has been described in the above-mentioned embodiments of the sorting device, and is not described herein again.

The foregoing description of the various embodiments is intended to highlight various differences between the embodiments, and the same or similar parts may be referred to each other, which are not repeated herein for brevity

The methods disclosed in the method embodiments provided by the present application can be combined arbitrarily without conflict to obtain new method embodiments.

Features disclosed in various product embodiments provided by the application can be combined arbitrarily to obtain new product embodiments without conflict.

The features disclosed in the various method or apparatus embodiments provided herein may be combined in any combination to arrive at new method or apparatus embodiments without conflict.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The sorting equipment is characterized by comprising an egg detection device (1), an egg taking and placing mechanism (2), a moving device (3) and a control mechanism (4);

the hatching egg detection device (1), the hatching egg taking and placing mechanism (2) and the moving device (3) are electrically connected with the control mechanism (4), the moving device (3) can drive the hatching egg taking and placing mechanism (2) to move, and the moving destination of the moving device (3) comprises a sorting target position of the hatching egg.

2. Sorting apparatus according to claim 1, characterised in that it further comprises a tray on which hatching egg fixing structures are arranged, which tray is located on the transport device (5).

3. Sorting apparatus according to claim 2, characterised in that the sorting apparatus further comprises a first photo-sensor (6), the first photo-sensor (6) being located at least on one side of the transport path of the transport device (5), the sensing position of the first photo-sensor (6) being a hatching egg detection position.

4. Sorting device according to claim 3, characterised in that it further comprises a second photoelectric sensor (7); the second photoelectric sensor (7) is positioned on at least one side of the transmission path of the transmission device (5), and the sensing position of the second photoelectric sensor (7) is the head end position of the transmission path of the transmission device (5);

and/or the sorting equipment further comprises a third photoelectric sensor (8), the third photoelectric sensor (8) is positioned on at least one side of the transmission path of the transmission device (5), and the sensing position of the third photoelectric sensor (8) is the end position of the transmission path of the transmission device (5).

5. Sorting plant according to claim 1, characterised in that the moving means (3) comprise a support frame (15) and a moving carriage (16), the moving carriage (16) overlapping the support frame (15) and being able to move on the support frame (15), the moving carriage (16) being connected to the hatching egg pick and place mechanism (2).

6. Sorting device according to claim 5, characterised in that it further comprises a fourth photo-sensor (9); the fourth photoelectric sensor (9) is positioned on the support frame (15), and the sensing position of the fourth photoelectric sensor (9) is as follows: when the hatching egg taking and placing mechanism (2) is located at a hatching egg detection position, the movable support (16) is located on the support frame (15).

7. Sorting device according to claim 5 or 6, characterised in that it further comprises a fifth photoelectric sensor (10); the fifth photoelectric sensor (10) is positioned on the support frame (15), and the sensing position of the fifth photoelectric sensor (10) is the moving head end position of the moving support (16) on the support frame (15);

and/or, the sorting equipment also comprises a sixth photoelectric sensor (11); the sixth photoelectric sensor (11) is located on the support frame (15), and the sensing position of the sixth photoelectric sensor (11) is the tail end position of the moving support (16) moving on the support frame (15).

8. Sorting apparatus according to claim 5, characterised in that the moving means further comprise a slide (17), the slide (17) being slidingly connected to the moving support (16) and to the hatching egg pick and place mechanism (2).

9. Sorting equipment according to claim 8, characterised in that the slide (17) is fixedly connected with the hatching egg pick and place mechanism (2).

10. Sorting device according to claim 8, characterised in that it further comprises a seventh photo-sensor (12); the seventh photoelectric sensor (12) is located on the movable support (16), and the sensing position of the seventh photoelectric sensor (12) is as follows: when the hatching egg taking and placing mechanism (2) is located at a hatching egg detection position, the movable support (16) is connected with the sliding block (17).

11. Sorting device according to claim 8 or 10, characterised in that it further comprises an eighth photoelectric sensor (13); the eighth photoelectric sensor (13) is positioned on the movable support, and the sensing position of the eighth photoelectric sensor (13) is the sliding head end position of the sliding block (17) on the movable support (16);

and/or, the sorting equipment further comprises a ninth photoelectric sensor (14); the ninth photoelectric sensor (14) is located on the moving support (16), and the sensing position of the ninth photoelectric sensor (14) is the sliding end position of the sliding block (17) on the moving support (16).

12. Sorting equipment according to claim 1, characterized in that the hatching egg detection device comprises a load cell (201) and/or at least one camera, the load cell (201) being located on a hatching egg pick and place mechanism (2), the camera range of the at least one camera comprising a hatching egg detection position.

13. The sorting method is characterized by being applied to sorting equipment, wherein the sorting equipment comprises an egg detection device (1), an egg taking and placing mechanism (2), a moving device (3) and a control mechanism (4); the hatching egg detection device (1), the hatching egg taking and placing mechanism (2) and the moving device (3) are electrically connected with the control mechanism (4), the moving device (3) can drive the hatching egg taking and placing mechanism (2) to move, and the moving destination of the moving device (3) comprises a sorting target position of the hatching egg;

the method comprises the following steps:

the control mechanism (4) controls the hatching egg detection device (1) to detect hatching eggs to obtain a detection result;

the control mechanism (4) controls the hatching egg picking and placing mechanism (2) to pick up hatching eggs according to the detection result, and controls the moving device (3) to move so as to drive the hatching egg picking and placing mechanism (2) to move to the moving destination.

14. Sorting method according to claim 13, characterised in that the sorting apparatus further comprises a tray on which hatching egg fixing structures are arranged, the tray being located on the transport device (5);

accordingly, the method further comprises:

before the control mechanism (4) controls the hatching egg detection device (1) to detect hatching eggs, the control mechanism (4) controls the transmission device (5) to work, so that the tray reaches a hatching egg detection position.

15. Sorting method according to claim 14, characterised in that the sorting apparatus further comprises a first photo-sensor (6), the first photo-sensor (6) being located at least on one side of the transport path of the transport device (5), the sensing position of the first photo-sensor (6) being a hatching egg detection position;

correspondingly, the control mechanism (4) controls the transmission device (5) to work, so that the tray reaches the hatching egg detection position, and the control mechanism comprises:

the control mechanism (4) controls the transmission device (5) to work, and when the first photoelectric sensor (6) is determined to sense the object, the tray is determined to reach the hatching egg detection position.

16. Sorting method according to claim 15, characterised in that the sorting apparatus further comprises a second photo-sensor (7); the second photoelectric sensor (7) is positioned on at least one side of the transmission path of the transmission device (5), and the sensing position of the second photoelectric sensor (7) is the head end position of the transmission path of the transmission device (5); correspondingly, the control mechanism (4) controls the transmission device (5) to work and comprises: the control mechanism (4) controls the transmission device (5) to work when determining that the second photoelectric sensor (7) senses the object;

and/or the sorting equipment further comprises a third photoelectric sensor (8), the third photoelectric sensor (8) is positioned on at least one side of the transmission path of the transmission device (5), and the sensing position of the third photoelectric sensor (8) is the end position of the transmission path of the transmission device (5); accordingly, the method further comprises: and the control mechanism (4) controls the transmission device (5) to stop working when determining that the third photoelectric sensor (8) senses the object.

17. Sorting method according to claim 13, characterised in that the moving device (3) comprises a support frame (15) and a moving carriage (16), the moving carriage (16) overlapping the support frame (15), the moving carriage (16) being connected to the hatching egg pick and place mechanism (2);

the controlling of the movement of the mobile device (3) comprises: controlling the movable support (16) to move on the support frame (15).

18. Sorting method according to claim 17, characterised in that the sorting apparatus further comprises a fourth photo-sensor (9); the fourth photoelectric sensor (9) is positioned on the support frame (15), and the sensing position of the fourth photoelectric sensor (9) is as follows: when the hatching egg taking and placing mechanism (2) is positioned at a hatching egg detection position, the movable bracket (16) is positioned on the support frame (15);

the method further comprises the following steps: and the control mechanism (4) controls the moving support (16) to stop moving when determining that the fourth photoelectric sensor (9) senses the object.

19. Sorting method according to claim 17 or 18, characterised in that the sorting apparatus further comprises a fifth photoelectric sensor (10); the fifth photoelectric sensor (10) is positioned on the support frame (15), and the sensing position of the fifth photoelectric sensor (10) is the moving head end position of the moving support (16) on the support frame (15); the method further comprises the following steps: when the control mechanism (4) determines that the fifth photoelectric sensor (10) senses an object, the control mechanism controls the moving support (16) to stop moving or move in the direction opposite to the original moving direction;

and/or, the sorting equipment also comprises a sixth photoelectric sensor (11); the sixth photoelectric sensor (11) is positioned on the support frame (15), and the sensing position of the sixth photoelectric sensor (11) is the end position of the movement of the movable support (16) on the support frame (15); the method further comprises the following steps: and when the control mechanism (4) determines that the sixth photoelectric sensor (11) senses the object, the control mechanism controls the movable support (16) to stop moving or move in the direction opposite to the original moving direction.

20. Sorting method according to claim 17, characterised in that the moving means further comprise a slide (17), the slide (17) being slidingly connected to the moving support (16) and to the hatching egg pick and place mechanism (2);

accordingly, the controlling the movement of the moving device (3) further comprises: controlling the sliding block (17) to slide on the movable bracket (15).

21. Sorting method according to claim 20, characterised in that the slide (17) is fixedly connected to the hatching egg pick and place mechanism (2).

22. Sorting method according to claim 20, characterised in that the sorting apparatus further comprises a seventh photo-sensor (12); the seventh photoelectric sensor (12) is located on the movable support (16), and the sensing position of the seventh photoelectric sensor (12) is as follows: when the hatching egg taking and placing mechanism (2) is positioned at a hatching egg detection position, the movable bracket (16) is connected with the sliding block (17);

the method further comprises the following steps: and the control mechanism (4) controls the sliding block (17) to stop sliding when determining that the seventh photoelectric sensor (12) senses the object.

23. Sorting method according to claim 20 or 22, characterised in that the sorting apparatus further comprises an eighth photo-sensor (13); the eighth photoelectric sensor (13) is positioned on the movable support, and the sensing position of the eighth photoelectric sensor (13) is the sliding head end position of the sliding block (17) on the movable support (16); the method further comprises the following steps: when the control mechanism (4) determines that the eighth photoelectric sensor (13) senses an object, the control mechanism controls the sliding block (17) to stop sliding or slide in the direction opposite to the original sliding direction;

and/or, the sorting equipment further comprises a ninth photoelectric sensor (14); the ninth photoelectric sensor (14) is positioned on the moving bracket (16), and the sensing position of the ninth photoelectric sensor (14) is the sliding end position of the sliding block (17) on the moving bracket (16); the method further comprises the following steps: and when the control mechanism (4) determines that the ninth photoelectric sensor (14) senses the object, the sliding block (17) is controlled to stop sliding or slide in the direction opposite to the original sliding direction.

24. Sorting method according to claim 13, characterized in that the hatching egg detection device (1) comprises a load cell (201) and/or at least one camera, the load cell (201) being located on a hatching egg pick and place mechanism (2), the camera range of the at least one camera comprising a hatching egg detection position;

control mechanism (4) control hatching egg detection device (1) detects hatching egg, obtains the testing result, includes: the control mechanism (4) controls the hatching egg taking and placing mechanism (2) to pick up hatching eggs, and a hatching egg weighing result of the weighing sensor (201) is obtained; and/or the control mechanism (4) controls the at least one shooting mechanism to shoot the hatching eggs to obtain images of the hatching eggs;