CN-122005144-A - A grasp fixing device for poultry puncture injection

Abstract

The invention discloses a gripping and fixing device for poultry puncture injection, which comprises a bracket, a gripper frame arranged on the bracket, a driving mechanism, a mechanical gripper and a puncture device, wherein the mechanical gripper comprises a thumb part and four finger parts which are opposite to the thumb part, the thumb part and the four finger parts cooperatively act to form a lateral gripping space for gripping the trunk of poultry, a non-shielding puncture operation space is formed on the other side of the poultry body in a gripping state, the puncture device is arranged on one side of the puncture operation space and is used for performing puncture injection operation towards the poultry body after gripping is performed, and the gripping and fixing device for poultry puncture injection can simulate flexible gripping of hands, adapt to different poultry body types and can be efficiently and accurately cooperated with the puncture injection operation.

Inventors

• YANG MENG

Assignees

• 深圳市鸿昇智能科技有限公司

Dates

Publication Date

20260512

Application Date

20260330

Claims (8)

1. 1. A grip fixation device for avian puncture injection, comprising: A bracket; A gripper frame mounted on the support; A driving mechanism; mechanical gripper A puncturing device; The mechanical gripper comprises a thumb part and four finger parts which are arranged opposite to the thumb part, wherein the thumb part and the four finger parts act cooperatively to form a lateral gripping space for gripping the trunk of the poultry, and a non-shielding puncture working space is formed at the other side of the poultry body in a gripping state; the puncture device is arranged on one side of the puncture operation space and is used for performing puncture injection operation towards the poultry body after the grasping operation is performed.
2. 2. The apparatus of claim 1, wherein the mechanical gripper is an adaptive gripper having fingers comprising a flexible contact surface and a force sensor, the drive mechanism being communicatively coupled to the force sensor and configured to adjust gripping force in real time based on sensor feedback.
3. 3. The device of claim 1, further comprising a machine vision system comprising a camera and image processing unit configured to identify a pose, variety, and/or optimal injection site of the bird and generate control signals to adjust a grasping pose of the mechanical gripper and/or a penetration path of the penetration device.
4. 4. The device of claim 1, wherein the lancing device comprises a syringe, a lancing drive for driving the syringe needle in linear motion, and a follower for providing dynamic compensation during lancing, the follower being a six-axis force-controlled robot.
5. 5. The device of claim 1, further comprising an automatic cleaning and sanitizing unit including a spray head or an atomizing sanitizing disposed adjacent the mechanical hand grip and piercing device for cleaning and sanitizing contact members in the working gap.
6. 6. The device of claim 1, wherein the thumb and/or four fingers of the mechanical gripper are modular in construction and can be quickly removed and replaced to accommodate birds of different sizes.
7. 7. The device of claim 1, wherein the needle employed by the puncturing device is a safety needle with a protective sheath.
8. 8. The apparatus of any one of claims 1 to 7, wherein the drive mechanism includes a gripper motor for driving the mechanical gripper into gripping and releasing motion, and a carriage motor for driving the gripper carriage and mechanical gripper as a whole relative to the carriage.

Description

A grasp fixing device for poultry puncture injection Technical Field The invention relates to a gripping and fixing device for poultry puncture injection. Background In the poultry farming industry, vaccination is a key link for preventing and controlling infectious diseases, guaranteeing the health of poultry groups and improving the benefit of farming. Currently, the operation of performing puncture injection (e.g., subcutaneous or intramuscular injection) on poultry (e.g., chickens) is mainly dependent on manual operations. The operator needs to hold the poultry with hands, fix the trunk and wings of the poultry, and puncture the poultry by holding the injector with the other hand. This approach has a number of drawbacks: Firstly, the manual grasping efficiency is low, the labor intensity is high, and the high-throughput operation requirement of a modern large-scale farm is difficult to adapt. Meanwhile, the struggling action of the poultry not only causes the operators to be tired easily, but also increases the occupational risk of being pecked or scratched. Secondly, there is a conflict between the stability of the grip and animal welfare. In order to ensure that the injection is smoothly carried out, operators can exert excessive force, stress reaction or physical injury (such as fracture and soft tissue contusion) of poultry are easily caused, but the poultry cannot be effectively controlled by the excessive grasping, and the struggling of the poultry at the moment of puncture can cause serious consequences of inaccurate injection position, scratch of a needle head, incomplete injection of vaccine dose, breakage of the needle head and the like, so that the immune effect and the safety of the poultry are directly influenced. To address the above problems, some automated or semi-automated fixtures have emerged in the industry. For example, some devices employ V-grooves or a stationary splint to restrain the bird's body. However, such devices often suffer from poor adaptability and are difficult to effectively accommodate birds of different varieties, ages and sizes. More importantly, these securement approaches often fail to provide a standardized, interference-free working space for the lancing operation. The securing mechanism itself may obscure the optimal injection site or cause the needle path to be blocked, making it difficult for the automated lancing device to work with precisely and reliably. In addition, the gripping device in the prior art generally lacks flexible self-adaptation capability, can not sense and adjust the gripping force like a human hand, and can reduce the damage to poultry to the greatest extent while ensuring the fixing effect. Meanwhile, in continuous operation, the problem of sanitation and epidemic prevention of equipment is often ignored, and the gripping part is in continuous contact with different birds, so that the risk of cross infection exists. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide the grasping and fixing device for poultry puncture injection, which can simulate the flexible grasping of hands, adapt to different poultry body types, and can be efficiently and accurately cooperated with the puncture injection action, so as to improve the overall efficiency and the safety of the immunization operation in the breeding industry. The technical scheme adopted for solving the technical problems is as follows: a grip fixation device for avian puncture injection, comprising: A bracket; A gripper frame mounted on the support; A driving mechanism; mechanical gripper A puncturing device; The mechanical gripper comprises a thumb part and four finger parts which are arranged opposite to the thumb part, wherein the thumb part and the four finger parts act cooperatively to form a lateral gripping space for gripping the trunk of the poultry, and a non-shielding puncture working space is formed at the other side of the poultry body in a gripping state; the puncture device is arranged on one side of the puncture operation space and is used for performing puncture injection operation towards the poultry body after the grasping operation is performed. Preferably, the mechanical gripper is an adaptive gripper, the fingers of which comprise a flexible contact surface and a force sensor, and the driving mechanism is in communication with the force sensor and configured to adjust the gripping force in real time based on sensor feedback. Preferably, the device further comprises a machine vision system, wherein the machine vision system comprises a camera and an image processing unit, and is configured to recognize the gesture, variety and/or optimal injection position of the poultry, and generate control signals to adjust the grabbing gesture of the mechanical gripper and/or the puncturing path of the puncturing device. Preferably, the puncture device comprises an injector, a puncture driving piece for driving the needle tube of the inj