阅读说明：本技术 一种智能化畜产品捡拾装置 (A kind of intelligence livestock products pick-up unit ) 是由 成秀东 于 2019-08-15 设计创作，主要内容包括：一种智能化畜产品捡拾装置,包括控制系统、行走机构、捡拾机构、蛋盘架机构、蛋盘临时夹持机构、转接机构、托举机构和放置箱。行走机构用于安装其它功能部件,以及沿鸡笼架移动；捡拾机构用于捡取鸡笼架外侧旁聚蛋槽内的鸡蛋,并将鸡蛋转移至蛋盘架机构处。蛋盘架机构用于叠加放置多个蛋盘。蛋盘临时夹持机构设置在蛋盘架机构的上端,在拾取鸡蛋的过程中,用于临时固定蛋盘架机构最上端的蛋盘。转接机构用于将蛋盘架机构上盛满鸡蛋的蛋盘转移至放置箱内,放置箱用于叠放多个盛装鸡蛋的蛋盘。根据放置箱内已盛放蛋盘的情况,托举机构对来自转接机构的蛋盘进行分区域放置。(A kind of intelligence livestock products pick-up unit, including control system, walking mechanism, pick-up mechanism, incubator tray frame mechanism, the interim clamping device of incubator tray, changeover mechanism, lift mechanism and placing box.Walking mechanism is used to install other functional components, and moves along chicken coop frame；Pick-up mechanism is used to pick the egg on the outside of chicken coop frame in other poly- egg slot, and egg is transferred at incubator tray frame mechanism.Incubator tray frame mechanism places multiple incubator trays for being superimposed.The upper end of incubator tray frame mechanism is arranged in the interim clamping device of incubator tray, during picking up egg, for being fixed temporarily the incubator tray of incubator tray frame mechanism the top.For changeover mechanism for the incubator tray for filling with egg on incubator tray frame mechanism to be transferred in placing box, placing box is used to stack multiple incubator trays for containing egg.The case where according to incubator tray has been held in placing box, lift mechanism carry out subregion placement to the incubator tray from changeover mechanism.)

1. a kind of intelligence livestock products pick-up unit, characterized in that including walking mechanism and be mounted on picking up in walking mechanism Pick up mechanism, incubator tray frame mechanism, changeover mechanism, lift mechanism and placing box；

Walking mechanism includes the walking guide rail along the setting of chicken coop frame, and the walking being movably disposed in walking guide rail is small Vehicle；

Pick-up mechanism includes elevator, oscillating motor, lifting seat, swing arm, picks up magnetic holding device and pick up camera；Elevator It is mounted vertically on walking dolly, lifting seat is mounted on the lifting moving power output end of elevator；Oscillating motor is mounted on On lifting seat, the rear end of swing arm and the rotary drive output of oscillating motor are connected；The pickup camera and pickup electromagnetism Fixture is respectively mounted on a swing arm；

Incubator tray frame mechanism includes disk body leading truck and disk body lifting tray, be used to support incubator tray the disk body lifting tray can on Lower movement is mounted on disk body leading truck；Incubator tray is correspondingly arranged with the pickup magnetic holding device；

Changeover mechanism includes switching oil cylinder and adapter frame, the front end for being mounted on placing box of adapter frame transverse movable, adapter frame Outer end with switching oil cylinder power output end connect, the inner end of adapter frame is corresponding with the transfer bracket of the incubator tray lower end to be set It sets；

The lift mechanism includes lifting plate, realizing the oil cylinder of lifting for lifting that plate moves up and down, and realizing and lift oil cylinder or so Mobile lifts Locating driver sliding block；Plate is lifted to be correspondingly arranged with the adapter frame；

The placing box is divided into multiple placement regions from rear to preceding, the two sides of each placement region be equipped with multilayer between the upper and lower every put Set side plate；Side plate is placed to be correspondingly arranged with the incubator tray.

2. a kind of intelligent livestock products pick-up unit according to claim 1, characterized in that the pickup images head tilt Setting.

3. a kind of intelligent livestock products pick-up unit according to claim 1, characterized in that on the pickup magnetic holding device Equipped with pickup pressure sensor.

4. a kind of intelligent livestock products pick-up unit according to claim 1, characterized in that disk body leading truck upper end Equipped with the interim clamping device of incubator tray, the interim clamping device of incubator tray includes clamping driving motor, clamping Bidirectional-screw, clamping driving spiral shell The female and grip block for clamping the top incubator tray；Clamping Bidirectional-screw is rotatably mounted on disk body leading truck upper inner, The rotary drive output for clamping driving motor is connect with the rotary drive input of clamping Bidirectional-screw；Clamping driving nut point It Pi Pei not be screwed on the bidirectional helical end of clamping Bidirectional-screw；Grip block is connect with clamping driving nut respectively.

5. a kind of intelligent livestock products pick-up unit according to claim 1, characterized in that the disk body leading truck it is upper End, equipped with the close switch of switching for whether being inserted into incubator tray lower end transfer bracket for detecting adapter frame.

6. a kind of intelligent livestock products pick-up unit according to claim 1, characterized in that the disk body leading truck it is upper End, equipped with for detecting the disk body monitoring light curtain sensor for whether filling with egg in the incubator tray of the top.

7. a kind of intelligent livestock products pick-up unit according to claim 1, characterized in that the incubator tray frame mechanism also wraps Include disk body lifting motor, disk body lifting screw rod and disk body lifting screw；The disk body that disk body leading truck is equipped with perforation lifts guiding Slot, disk body lifting screw rod is vertically arranged along disk body leading truck, and the rotary drive output and disk body of disk body lifting motor lift silk The rotary drive input of bar connects；Disk body lifting screw matching is screwed on disk body lifting screw rod, and disk body lifts the side of screw Side lifts sliding block by disk body and connect with the disk body lifting tray in disk body leading truck.

8. a kind of intelligent livestock products pick-up unit according to claim 1, characterized in that the upper end for lifting plate is set Lift pressure sensor.

9. a kind of intelligent livestock products pick-up unit according to claim 1, characterized in that the lift mechanism further includes Locating driver motor is lifted, Locating driver screw rod is lifted and lifts Locating driver screw；The bottom end of the placing box is equipped with and lifts Positioning runner, it is described lift Locating driver sliding block and be slidably mounted on lift in positioning runner；Lifting Locating driver screw rod can The bottom end for being mounted on placing box of rotation lifts the rotary drive output of Locating driver motor and lifts Locating driver screw rod Rotary drive input connection；It lifts the matching of Locating driver screw to be screwed onto and lift on Locating driver screw rod, lifts Locating driver Screw is connect with Locating driver sliding block is lifted.

10. a kind of intelligent livestock products pick-up unit according to claim 1, characterized in that described to place the upper of side plate End is equipped at intervals with multiple placement detection pressure sensors.

Technical field

The present invention relates to livestock products pick-up unit technical field, specifically a kind of intelligent livestock products pick-up unit.

Background technique

Currently, in large scale poultry farm.Laying hen is closed in chicken coop frame, and is arranged in the outside of chicken coop frame for receiving Collect the poly- egg slot of egg.Worker picks up egg in poly- egg slot once or twice daily, and is placed egg by another process In incubator tray.This traditional mode needs several workers to carry out co-ordination, is unfavorable for modernizing the development of aquaculture industry.

Summary of the invention

The purpose of the present invention is to provide a kind of intelligent livestock products pick-up units, pick for solving to egg intelligence And the technical issues of placing.

The technical scheme adopted by the invention to solve the technical problem is that:

A kind of intelligence livestock products pick-up unit, including walking mechanism and the pick-up mechanism being mounted in walking mechanism, Incubator tray frame mechanism, changeover mechanism, lift mechanism and placing box；

Walking mechanism includes the walking guide rail being arranged along chicken coop frame, and the walking being movably disposed in walking guide rail Trolley；

Pick-up mechanism includes elevator, oscillating motor, lifting seat, swing arm, picks up magnetic holding device and pick up camera；It rises Drop machine is mounted vertically on walking dolly, and lifting seat is mounted on the lifting moving power output end of elevator；Oscillating motor peace On lifting seat, the rear end of swing arm and the rotary drive output of oscillating motor are connected；The pickup camera and pickup Magnetic holding device is respectively mounted on a swing arm；

Incubator tray frame mechanism includes disk body leading truck and disk body lifting tray, is used to support the disk body lifting tray of incubator tray It is moving up and down to be mounted on disk body leading truck；Incubator tray is correspondingly arranged with the pickup magnetic holding device；

Changeover mechanism includes switching oil cylinder and adapter frame, and the front end for being mounted on placing box of adapter frame transverse movable turns The outer end for connecing frame is connect with the power output end of switching oil cylinder, and the inner end of adapter frame is corresponding with the transfer bracket of the incubator tray lower end Setting；

The lift mechanism includes lifting plate, realizing the oil cylinder of lifting for lifting that plate moves up and down, and realizing and lift oil cylinder What is moved left and right lifts Locating driver sliding block；Plate is lifted to be correspondingly arranged with the adapter frame；

The placing box is divided into multiple placement regions from rear to preceding, the two sides of each placement region be equipped with multilayer between the upper and lower every Placement side plate；Side plate is placed to be correspondingly arranged with the incubator tray.

Further, the pickup camera is obliquely installed.

Further, the pickup magnetic holding device, which is equipped with, picks up pressure sensor.

Further, disk body leading truck upper end is equipped with the interim clamping device of incubator tray, and the interim clamping device of incubator tray includes Clamp driving motor, clamping Bidirectional-screw, clamping driving nut and the grip block for clamping the top incubator tray；Clamp two-way silk Bar is rotatably mounted on disk body leading truck upper inner, clamps the rotary drive output and clamping Bidirectional-screw of driving motor Rotary drive input connection；Clamping driving nut matches respectively to be screwed on the bidirectional helical end of clamping Bidirectional-screw；Folder Plate is held to connect with clamping driving nut respectively.

Further, the upper end of the disk body leading truck, equipped with with detection adapter frame whether be inserted into incubator tray lower end transfer The close switch of the switching of bracket.

Further, the upper end of the disk body leading truck, equipped with for detecting in the incubator tray of the top whether fill with egg Disk body monitors light curtain sensor.

Further, the incubator tray frame mechanism further includes disk body lifting motor, disk body lifting screw rod and disk body lifting screw； The disk body that disk body leading truck is equipped with perforation lifts guide groove, and disk body lifting screw rod is vertically arranged along disk body leading truck, and disk body is lifted The rotary drive output of lifting motor is connect with the rotary drive input of disk body lifting screw rod；Disk body lifting screw matching is spirally connected On disk body lifting screw rod, the disk body lifting that the side that disk body lifts screw is lifted by disk body in sliding block and disk body leading truck is held in the palm Disk connection.

Further, the upper end for lifting plate is equipped with and lifts pressure sensor.

Further, the lift mechanism further includes lifting Locating driver motor, lifting Locating driver screw rod and lift and determine Position driving screw；The bottom end of the placing box is equipped with and lifts positioning runner, and the Locating driver sliding block of lifting slidably is installed It is lifting in positioning runner；The bottom end that Locating driver screw rod is rotatably mounted on placing box is lifted, Locating driver motor is lifted Rotary drive output connect with the rotary drive input for lifting Locating driver screw rod；Lift Locating driver screw matching spiral shell It connects on lifting Locating driver screw rod, lifts Locating driver screw and connect with Locating driver sliding block is lifted.

Further, the upper end for placing side plate is equipped at intervals with multiple placement detection pressure sensors.

Detailed description of the invention

Fig. 1 is the schematic top plan view of the embodiment of the present invention；

Fig. 2 is the schematic side view of pick-up mechanism in the embodiment of the present invention；

Fig. 3 is incubator tray frame mechanism and the interim clamping device matching relationship schematic side view of incubator tray in the embodiment of the present invention；

Fig. 4 is changeover mechanism, lift mechanism and placing box matching relationship schematic side view in the embodiment of the present invention；

Fig. 5 is partial enlargement diagram at A in Fig. 1；

Fig. 6 is the schematic side view of incubator tray in the embodiment of the present invention；

In figure: 1, placing box；2, incubator tray；3, walking guide rail；4, walking dolly；5, elevator；6, lifting seat；7, electricity is swung Machine；8, swing arm；9, magnetic holding device is picked up；10, camera is picked up；11, disk body leading truck；12, disk body lifting motor；13, disk Body lifts screw rod；14, disk body lifts screw；15, disk body lifting tray；16, disk body monitors light curtain sensor；17, disk body lifts Guide groove；18, disk body lifts sliding block；19, bracket is shifted；20, egg chamber is contained；21, driving motor is clamped；22, Bidirectional-screw is clamped； 23, clamping driving nut；24, grip block；25, the close switch of switching；26, switching oil cylinder；27, adapter frame；28, oil cylinder is lifted； 29, plate is lifted；30, Locating driver motor is lifted；31, Locating driver screw rod is lifted；32, Locating driver screw is lifted；33, it lifts Locating driver sliding block；34, pressure sensor is lifted；35, side plate is placed；36, detection pressure sensor is placed.

Specific embodiment

In order to clearly illustrate the technical characterstic of this programme, below by specific embodiment, and its attached drawing is combined, to this Invention is described in detail.It should be noted that illustrated component is not drawn necessarily to scale in the accompanying drawings.Present invention omits right Known assemblies and technical description are to avoid being unnecessarily limiting the present invention.

As shown in Figures 1 to 6, a kind of intelligent livestock products pick-up unit, including control system, and be electrically connected with control system Walking mechanism, pick-up mechanism, incubator tray frame mechanism, the interim clamping device of incubator tray, changeover mechanism, lift mechanism and the placing box 1 connect. Walking mechanism is used to install other functional components, and moves along chicken coop frame；Pick-up mechanism is other poly- on the outside of chicken coop frame for picking Egg in egg slot, and egg is transferred at incubator tray frame mechanism.Incubator tray frame mechanism places multiple incubator trays for being superimposed, and is used for It is interim to place the egg from pick-up mechanism, to cooperate the needs of changeover mechanism.The interim clamping device of incubator tray is arranged in incubator tray frame The upper end of mechanism, during picking up egg, for being fixed temporarily the incubator tray 2 of incubator tray frame mechanism the top.Changeover mechanism is used It is transferred in placing box 1 in by the incubator tray 2 for filling with egg on incubator tray frame mechanism, placing box 1 is used to stack multiple splendid attire eggs Incubator tray.The case where according to incubator tray has been held in placing box 1, lift mechanism carry out subregion to the incubator tray 2 from changeover mechanism and put It sets.

The vehicle mechanism includes walking guide rail 3, walking dolly 4 and movable motor, and walking guide rail 3 is along the longitudinal direction of chicken coop frame Extending direction setting, the setting that the lower end of walking dolly 4 can be moved forward and backward by traveling wheel is in walking guide rail 3；Movable motor It is mounted on the lower end of walking dolly 4, and is drivingly connected by transmission mechanism and walking dolly 4.Alternatively, in another embodiment In, walking dolly 4 can be used artificial push and walk.

The pick-up mechanism includes elevator 5 (preferably using screw elevator), lifting seat 6, oscillating motor 7, swing arm 8, magnetic holding device 9 is picked up, camera 10 is picked up and picks up pressure sensor.Elevator 5 is mounted vertically on walking dolly 4, is risen Drop seat 6 is mounted on the lifting moving power output end of elevator 5.The oscillating motor 7 is mounted vertically on lifting seat 6, pendulum The rear end of swing arm 8 is connect with the rotary drive output of oscillating motor 7.The pickup camera 10 and pickup magnetic holding device 9 are equal It is mounted on swing arm 8, picks up camera 10 and be obliquely installed；It picks up pressure sensor and is mounted on the fixture for picking up magnetic holding device 9 On side wall (using arc clamping limb).Image procossing mould after pickup camera 10 captures egg picture, in control system Block and the capture picture compare confirmation, and then pick up magnetic holding device 9 and the egg in poly- egg slot is clamped pickup；When pickup pressure After sensor sensing to the signal of certain dynamics, it was demonstrated that egg is clamped securely, and at this moment oscillating motor 7 drives swing arm 8, will press from both sides The egg taken is shifted at the incubator tray frame mechanism.

The incubator tray frame mechanism includes disk body leading truck 11, disk body lifting motor 12, disk body lifting screw rod 13, disk body lifting Screw 14, disk body lifting tray 15 and disk body monitor light curtain sensor 16；Disk body leading truck 11 is equipped with the disk body lifting of perforation Guide groove 17, disk body lifting screw rod 13 is vertically arranged along disk body leading truck 11, the rotary drive output of disk body lifting motor 12 It is connect with the rotary drive input of disk body lifting screw rod 13；The disk body lifting matching of screw 14 is screwed onto disk body lifting screw rod 13 On, the disk body lifting tray 15 that the side that disk body lifts screw 14 is lifted by disk body in sliding block 18 and disk body leading truck 11 connects It connects.For carrying the incubator tray 2 being superimposed up and down in the disk body lifting tray 15, the lower end of the incubator tray 2 is equipped with to be recessed upwards Bracket 19 is shifted, transfer bracket 19 is correspondingly arranged with the changeover mechanism；Egg chamber 20 is contained equipped with multiple in the upper end of incubator tray.The disk Body monitoring light curtain sensor 16 is located at the upper side of the disk body leading truck 11；Disk body monitoring light curtain sensor 16 is for detecting The top of egg in incubator tray 2, after the egg in incubator tray 2 blocks 16 entirety of disk body monitoring light curtain sensor, it was demonstrated that in incubator tray Egg is filled with, in order to which the incubator tray for filling with egg is transferred at placing box 1 by changeover mechanism in time.

The interim clamping device of incubator tray includes clamping driving motor 21, clamping Bidirectional-screw 22, clamping driving nut 23 With grip block 24；Clamping Bidirectional-screw 22 is rotatably mounted on 11 upper interior end of disk body leading truck, clamping driving by bracket The rotary drive output of motor 21 is connect with the rotary drive input of clamping Bidirectional-screw 22；Clamping driving nut 23 is distinguished Matching is screwed on the bidirectional helical end of clamping Bidirectional-screw 22.The upper end transverse direction of the disk body leading truck 11 is equipped with clamping and leads To slot, the lower end of grip block 24 is mounted in clamping guide groove by the way that sliding block is transversely movable；Distinguish the outer end of grip block 24 It is connect with clamping driving nut 23.When needing to clamp the top incubator tray, grip block 24 is gathered inwardly by incubator tray 2 Lower part two sides clamp.The inner end of the grip block 24, which is equipped with, transfers close to switch 25, transfers close to switch 25 and the switching The power output mobile terminal of mechanism is correspondingly arranged.

The changeover mechanism is mounted on the front end of the placing box 1, (inside sets the oil of displacement sensor including switching oil cylinder 26 Cylinder) and adapter frame 27.Oil cylinder 26 of transferring laterally is arranged, and power output end is towards outside, occupied space when being acted with reduction；Turn Connect the front end for being mounted on placing box 1 of 27 transverse movable of frame, the outer end of adapter frame 27 and the power output end of switching oil cylinder 26 Connection, the inner end of adapter frame 27 and the transfer bracket 19 of the incubator tray lower end are correspondingly arranged.When transferring incubator tray process, switching oil Cylinder 26 is shunk, in the front end insertion transfer bracket 19 of adapter frame 27；Turn when the switching on grip block 24 is detected close to switch 25 After connecing frame 27, grip block 24 unclamps the clamping to incubator tray 2 to two sides separation；Disk body lifting motor 12 lifts screw rod 13 by disk body Driving disk body lifting tray 15 moves down, and the incubator tray 2 of the top is fallen in the adapter frame 27；Then the elongation of switching oil cylinder 26 is to the One extension position, incubator tray are moved into above the front end of placing box 1；Lift mechanism in turn lifts incubator tray, oil cylinder of transferring 26 elongations are separated to the second extension position with incubator tray；Incubator tray is moved to corresponding position on placing box 1 again by lift mechanism.It is transferring After 27 pairs of the top incubator tray switchings of frame, the disk body lifting motor 12 lifts screw rod 13 by disk body and drives disk body lifting tray 15 move up, and another incubator tray of lower section are moved upward to designated position, then the grip block 24 of two sides is under the two sides of the incubator tray Portion forms clamping.

The lift mechanism includes lifting oil cylinder 28 (inside setting the oil cylinder of displacement sensor), lifts plate 29, lifts positioning and drives Dynamic motor 30 (absolute value motor), lifts Locating driver screw rod 31, lifts Locating driver screw 32 and lifts Locating driver sliding block 33.The bottom end of the placing box 1 is equipped with and lifts positioning runner, lifts Locating driver sliding block 33 and is slidably mounted on and lifts positioning In sliding slot.The bottom end that Locating driver screw rod 31 is rotatably mounted on placing box 1 is lifted, the rotation of Locating driver motor 30 is lifted Power output end is connect with the rotary drive input for lifting Locating driver screw rod 31.The matching of Locating driver screw 32 is lifted to be spirally connected On lifting Locating driver screw rod 31, lifts Locating driver screw 32 and connect with Locating driver sliding block 33 is lifted.Lift oil cylinder 28 It is mounted vertically in and lifts on Locating driver sliding block 33, lift plate 29 and be transversely mounted on the upper end for lifting oil cylinder 28, lift plate 29 Upper end is equipped with and lifts pressure sensor 34.The two sides of the placing box 1 are equipped with multilayer and place side plate 35, place side plate 35 for dividing Layer is spaced apart multiple incubator trays, can be spaced apart multiple incubator trays again on every layer of placement side plate 35；The upper end for placing side plate 35 It is equipped at intervals with multiple placement detection pressure sensors 36.Placing box 1 is divided into the first placement region, the second placement region from rear to preceding With third placement region.In lift mechanism in incubator tray placement process, lift mechanism lifts incubator tray 2 first and is placed on the first placement On the placement side plate 35 of region top layer, then it will gradually be placed on corresponding incubator tray placement side plate 35 downwards；It puts when first It sets after region fills with incubator tray, then gradually places incubator tray to the second placement region and third placement region.

The control system includes control cabinet, controller, manipulation plate and alarm, the controller, manipulation plate and alarm On control cabinet, control cabinet is mounted on walking dolly 4 device integrated installation.The signal input part of controller respectively with the manipulation Plate picks up camera 10, picks up pressure sensor, disk body monitoring light curtain sensor 16, transfer close to switch 25, lift pressure biography Sensor 34 and placement detection pressure sensor 36 are electrically connected；The signal output end of controller respectively with the movable motor, liter Drop machine 5, oscillating motor 7 pick up magnetic holding device 9, disk body lifting motor 12, clamping driving motor 21, switching oil cylinder 26, lift oil Cylinder 28 and lift Locating driver motor 30 electrical connection.

A kind of gathering method of above-mentioned intelligent livestock products pick-up unit, includes the following steps.

S1 walking dolly 4 is moved along walking guide rail 3；

After S2 monitors egg, walking dolly 4 stops movement；

S3 oscillating motor 7 drives swing arm 8, makes the front end of swing arm 8 close to egg position, picks up magnetic holding device 9 and clamp Egg；Elevator 5 promotes swing arm 8, and oscillating motor 7 drives the incubator tray 2 of front end to 11 upper end of disk body leading truck of swing arm 8 On, it picks up magnetic holding device 9 and unclamps egg；Oscillating motor 7 drives swing arm 8 to turn round, and elevator 5 drives swing arm 8 to decline；

S4 repeats the above steps S1-S3, until the incubator tray 2 of the top fills with egg；

S5 switching oil cylinder 26 acts, and adapter frame 27 is made to be inserted into the transfer bracket 19 of 2 lower end of incubator tray；Disk body lifting motor 12 is logical Crossing disk body lifting screw rod 13 drives disk body lifting tray 15 to decline, and incubator tray 2 is fallen in adapter frame 27；

S6 switching oil cylinder 26 acts, and the drive incubator tray 2 of adapter frame 27 is moved to the top of placing box 1；

S7 lifts the movement of oil cylinder 28, lifts plate 29 and lifts the incubator tray 2 in adapter frame 27；

S8 switching oil cylinder 26 acts, and adapter frame 27 is extracted out from the lower section of incubator tray 2；

S9 lifts Locating driver motor 30 and lifts Locating driver screw rod 31 by driving, and then switching oil cylinder 26 is moved to Corresponding region in placing box 1；Oil cylinder 26 of transferring acts, and lifts the placement that the incubator tray 2 on plate 29 falls in corresponding region in placing box 1 On side plate 35.

Preferably, in above-mentioned steps S3, by picking up the pickup pressure sensor on magnetic holding device 9, detection egg is It is no to be clamped.

Preferably, in above-mentioned steps S3, by the interim clamping device of incubator tray 2 of leading truck upper end to the incubator tray of the top 2 are gripped.

Preferably, in above-mentioned steps S4, the detection of light curtain sensor 16 is monitored topmost by the disk body of leading truck upper end Incubator tray 2 whether fill with egg.

Preferably, in above-mentioned steps S5, whether adapter frame 27 is detected close to switch 25 by the switching of leading truck upper end It has been inserted into the transfer bracket 19 of 2 lower end of incubator tray.

Preferably, in above-mentioned steps S7, the pressure sensor 34 of lifting for lifting 29 upper end of plate detects whether incubator tray 2 falls in It lifts on plate 29.

Preferably, in above-mentioned steps S9, placing box 1 from it is rear to preceding be divided into the first placement region, the second placement region and Third placement region；Incubator tray 2 is first placed on the placement side plate 35 of the first placement region top layer, then gradually by corresponding egg It is placed on the placement side plate 35 of disk 2 downwards；After the first placement region fills with incubator tray 2, then gradually to the second placement region and Third placement region places incubator tray 2.

Preferably, in above-mentioned steps S9, pressure sensor 36 is detected by the placement placed on side plate 35, detects incubator tray Whether 2 be placed on the corresponding region in placing box 1.

Except for the technical features described in the specification, it all is technically known to those skilled in the art.

Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention The limitation enclosed, based on the technical solution of the present invention, those skilled in the art, which do not need to pay for creative labor, to be done Various modifications or changes out are still within the scope of the present invention.