CN108099867B - Poultry house mobile robot chassis capable of steering in situ - Google Patents
Poultry house mobile robot chassis capable of steering in situ Download PDFInfo
- Publication number
- CN108099867B CN108099867B CN201711310422.9A CN201711310422A CN108099867B CN 108099867 B CN108099867 B CN 108099867B CN 201711310422 A CN201711310422 A CN 201711310422A CN 108099867 B CN108099867 B CN 108099867B
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- pair
- shaft
- travelling wheels
- base
- circular base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/70—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in livestock or poultry
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The invention discloses a poultry house mobile robot chassis capable of in-situ steering. The four distance sensors are respectively embedded in grooves at the edge of the circular base at equal intervals, a pair of driving travelling wheels and a pair of driven travelling wheels are arranged on the circular base in parallel, the driving travelling wheels and the driven travelling wheels pass through the rectangular grooves of the circular base and can be contacted with the ground, and the lifting steering mechanism is arranged on the circular base and is positioned in the middle of the driving travelling wheels and the driven travelling wheels; the controller is fixed on the circular base, and the motor, the stepping motor, the angle sensor and the four distance sensors are electrically connected with the controller. According to the invention, the turning place is judged according to the signals of the four distance sensors, the lifting steering mechanism is utilized to prop up and put down the base, so that the mobile robot can steer in situ in the poultry house, the trafficability of the mobile robot in the poultry house is ensured, the labor intensity is reduced, and the working efficiency is improved.
Description
Technical Field
The invention relates to a mobile robot, in particular to a poultry house mobile robot chassis capable of steering in situ.
Background
With the large-scale livestock and poultry farming industry, epidemic disease prevention and control situation of the livestock and poultry farming industry in China is more and more serious, inspection of houses and disinfection and epidemic prevention spraying are important measures for guaranteeing biological safety, and become an indispensable operation flow for poultry farming. Inspection of the cage to find out sick chickens and dead chickens is basically realized by manual work; the existing disinfection epidemic prevention spraying of the poultry house is also carried out by adopting a manual backpack type or a trolley type, so that the labor intensity is high, the operation is extensive, the health of operators is endangered, and the automation and the intelligent degree are low. The poultry house operation device is erected on the movable chassis by combining the movable robot technology to realize automation, so that the labor intensity of operators can be reduced, and the operation effect can be ensured.
The existing mobile chassis steering method mainly comprises two-wheel steering, four-wheel steering and differential steering, and the two-wheel steering, the four-wheel steering and the differential steering have a certain turning radius, and the turning distance at one side of the poultry house is narrow.
Disclosure of Invention
The invention aims to provide a chassis of a poultry house mobile robot capable of realizing in-situ steering, which realizes in-situ steering of the mobile robot in the poultry house, ensures the trafficability of the mobile robot in the poultry house, reduces labor intensity and improves working efficiency.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention comprises a round base, a lifting steering device mainly composed of an angle sensor and a stepping motor, a travelling mechanism mainly composed of a pair of driven travelling wheels and a pair of driving travelling wheels driven by the motor, four distance sensors and a controller; the four distance sensors are respectively embedded in grooves at the edge of the circular base at equal intervals, a pair of driving travelling wheels and a pair of driven travelling wheels are arranged on the circular base in parallel, and both the driving travelling wheels and the driven travelling wheels pass through the rectangular grooves of the circular base to be in contact with the ground; the controller is fixed on the circular base, and the motor, the stepping motor, the angle sensor and the four distance sensors are electrically connected with the controller.
The lifting steering mechanism comprises a stepping motor, an angle sensor, a first coupler, a lifting shaft, a compacting plate, a compacting base, a unidirectional thrust bearing, a supporting seat, two guide rails and a stepping motor supporting plate; two guide rails are fixed on the circular base along the directions of the two guide rails which are parallel to the pair of driving traveling wheels and the pair of driven traveling wheels, two ends of the supporting plate of the stepping motor are positioned in the two guide rails and form a guide rail pair with the two guide rails, the stepping motor is fixed on one side surface of the supporting plate of the stepping motor, the angle sensor is fixed on the supporting plate of the stepping motor, one end of the first coupler is connected with the stepping motor, the other end of the first coupler is connected with one end of the lifting shaft, the pressing plate is fixed on the lifting shaft, the pressing plate can be in contact with the pressing base to press, after the other end of the lifting shaft passes through the pressing base, a movable thread pair is formed by threads at the bottom end of the lifting shaft and a central threaded hole of the circular base and is supported in a unidirectional thrust bearing hole of the supporting seat, and the pressing base is welded on the circular base.
The travelling mechanism comprises a motor, a first shaft, a third shaft, a second coupler, five bearing seats, five deep groove ball bearings, two bevel gears, a second shaft, a pair of driving travelling wheels and a pair of driven travelling wheels; the motor is fixed on the round base, one end of the second coupler is connected with the motor, the other end of the second coupler is connected with one end of the first shaft, the first shaft penetrates through a first deep groove ball bearing hole of a first bearing seat arranged on the round base, a first bevel gear is arranged at the other end of the first shaft, the first bevel gear and a second bevel gear arranged on a second shaft form a gear pair, the second shaft penetrates through a second bearing seat and a third bearing seat arranged on the round base respectively and is supported in a second deep groove ball bearing hole and a third deep groove ball bearing hole respectively, and active travelling wheels are arranged at two ends of the second shaft respectively; the third shaft respectively passes through a fourth bearing seat and a fifth bearing seat which are arranged on the circular base and is supported in respective fourth deep groove ball bearing holes and fifth deep groove ball bearing holes, and driven travelling wheels are respectively arranged at two ends of the third shaft.
The compaction plate is in contact compaction with the compaction base through a conical surface.
The invention has the beneficial effects that:
according to the invention, the chassis is jacked up at the steering point through the guide rail lifting steering mechanism and then rotated, so that the mobile robot can realize in-situ steering in the poultry house.
Drawings
Fig. 1 is a schematic structural view of the poultry house mobile robot chassis of the present invention.
Fig. 2 is a schematic view of a rail lift steering mechanism of the present invention.
Fig. 3 is a schematic diagram of the structure of the poultry house and a chassis motion trail.
Fig. 4 is a schematic view of the distance of the support base from the circular base in the steering state.
Fig. 5 is a schematic view of the position of the moving rail lifting steering mechanism.
Fig. 6 is a schematic view of the position of the steering state rail lift steering mechanism.
In the figure: 1. the device comprises a round base, 2, a stepping motor, 3, a third shaft, 4, an angle sensor, 5, a first coupler, 6, a lifting shaft, 7, two driving travelling wheels, 8, a second shaft, 9, five deep groove ball bearings, 10, five bearing seats, 11, two bevel gears, 12, a first shaft, 13, a second coupler, 14, a motor, 15, four distance sensors, 16, a compacting plate, 17, a unidirectional thrust bearing, 18, a supporting seat, 19, a compacting base, 20, a motor supporting plate, 21, a guide rail, 22, a controller, 23 and two driven travelling wheels.
Description of the embodiments
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1 and 2, the invention comprises a circular base 1, a lifting steering device mainly composed of an angle sensor 4 and a stepping motor 2, a travelling mechanism mainly composed of a pair of driven travelling wheels 23 and a pair of driving travelling wheels 7 driven by a motor 14, four distance sensors 15 and a controller 22; the four distance sensors 15 are respectively embedded in grooves at the edge of the circular base 1 at equal intervals, a pair of driving travelling wheels 7 and a pair of driven travelling wheels 23 are arranged on the circular base 1 in parallel, the pair of driving travelling wheels 7 and the pair of driven travelling wheels 23 penetrate through rectangular grooves of the circular base 1 to be in contact with the ground, and the lifting steering mechanism is arranged on the circular base 1 and is positioned between the pair of driving travelling wheels 7 and the pair of driven travelling wheels 23; the controller 22 is fixed on the circular base 1, and the motor 14, the stepping motor 2, the angle sensor 4 and the four distance sensors 15 are electrically connected with the controller 22. The controller 22 is a commercially available DSP controller or a commercially available PLC controller.
As shown in fig. 1 and 2, the lifting steering mechanism comprises a stepping motor 2, an angle sensor 4, a first coupling 5, a lifting shaft 6, a compacting plate 16, a compacting base 19, a unidirectional thrust bearing 17, a supporting seat 18, two guide rails 21 and a stepping motor supporting plate 20; two guide rails 21 are fixed on the circular base 1 along the directions parallel to the pair of driving travelling wheels 7 and the pair of driven travelling wheels 23, two ends of a stepping motor supporting plate 20 are positioned in the two guide rails 21 and form a guide rail pair with the two guide rails 21, a stepping motor 2 is fixed on one side surface of the stepping motor supporting plate 20, an angle sensor 4 is fixed on the stepping motor supporting plate 20, one end of a first coupler 5 is connected with the stepping motor 2, the other end of the first coupler 5 is connected with one end of a lifting shaft 6, a pressing plate 16 is fixed on the lifting shaft 6, the pressing plate 16 can be in contact with and press with a pressing base 19, after the other end of the lifting shaft 6 passes through the pressing base 19, threads at the bottom end of the lifting shaft 6 and a central threaded hole of the circular base 1 form a movable thread pair and are supported in a unidirectional thrust bearing 17 hole of a supporting seat 18, and the pressing base 19 is welded on the circular base 1.
As shown in fig. 1, the travelling mechanism comprises a motor 14, a first shaft 12, a third shaft 3, a second coupling 13, five bearing seats 10, five deep groove ball bearings 9, two bevel gears 11, a second shaft 8, a pair of driving travelling wheels 7 and a pair of driven travelling wheels 23; the motor 14 is fixed on the circular base 1, one end of the second coupler 13 is connected with the motor 14, the other end of the second coupler 13 is connected with one end of the first shaft 12, the first shaft 12 passes through a first deep groove ball bearing 9 hole of a first bearing seat 10 arranged on the circular base 1, the other end of the first shaft 12 is provided with a first bevel gear 11, the first bevel gear 11 and a second bevel gear 11 arranged on a second shaft 8 form a gear pair, the second shaft 8 respectively passes through a second bearing seat 10 and a third bearing seat 10 arranged on the circular base 1 and is supported in the respective second deep groove ball bearing 9 holes, and two ends of the second shaft 8 are respectively provided with a driving travelling wheel 7; the third shaft 3 passes through a fourth bearing seat 10 and a fifth bearing seat 10 which are arranged on the circular base 1 respectively and is supported in respective holes of a fourth deep groove ball bearing 9 and a fifth deep groove ball bearing 9, and driven travelling wheels 23 are respectively arranged at two ends of the third shaft 3.
The pressing plate 16 is pressed with the pressing base 19 through conical surface contact.
Taking a poultry house operation moving route diagram of 4 rows of poultry cages 5 walkways as an example, as shown in fig. 3, the chassis moves from the point A to the point D to finish the whole operation process, the distance between the track of the center point of the circular base 1 and the chicken cage in the operation process is always M, as shown in fig. 4, when the distance between the supporting seat 18 and the circular base 1 is the largest, the distance between the upper surface of the supporting seat and the lower plane of the circular base 1 is K, and the thread pitch of the lifting shaft 6 is P. The 4 distance sensors 15 are used for judging whether the turning is needed or not when the distance suddenly increases in the process of moving the chassis.
Taking the tracks a to F as an example, in ABC section, the controller 22 controls the motor 14 to rotate clockwise, the chassis moves linearly from the point a to the point C, and the position of the rail lifting steering mechanism is schematically shown in fig. 5 in the moving state, where the support seat 18 abuts against the circular base 1. At point B, the signal from the distance sensor 15 on the right side in the forward direction suddenly increases, the controller 22 detects the signal, records that the signal value from the distance sensor 15 on the front side in the forward direction is L1, and the chassis continues to advance, and when the signal value from the distance sensor 15 on the front side in the forward direction is l2=l1-M, the controller 22 controls the chassis to stop advancing and starts turning.
In the turning process, the controller 22 controls the stepper motor 2 to rotate clockwise, and simultaneously starts to receive signals of the angle sensor 20, the angle of the angle sensor 20 is defined as W1 at the moment, since the thread section of the lifting shaft 6 and the central hole of the circular base 1 form a moving thread pair, and the stepper motor support plate 20 and the guide rail 21 form a moving pair, all components on the lifting shaft 6 and the stepper motor 2 move downwards relative to the circular base 1 at the moment, along with the rotation of the stepper motor 2, the support seat 18 moves downwards, when the bottom surface of the support seat 18 is lower than the plane where the low points of the 4 travelling wheels 7 are located, the support seat 18 supports the chassis until the pressing plate 16 on the lifting shaft 6 is tightly contacted with the pressing base 19 on the circular base 1, and the position state of the guide rail lifting steering mechanism is shown in fig. 6. The stepping motor 2 continues to rotate, as the pressing plate 16 is tightly contacted with the pressing base 19 on the circular base 1, and the supporting seat 18 is provided with the unidirectional thrust bearing 17 which can rotate clockwise, the lifting shaft 6 rotates relative to the supporting seat 18, and when the angle sensor 20 signals W2-w1=90°, the chassis completes 90 ° of turning. At this time, the controller 22 controls the stepping motor 2 to rotate anticlockwise, because the supporting seat 18 is provided with the unidirectional thrust bearing 17 which can rotate clockwise, the lifting shaft 6 cannot rotate relative to the supporting seat 18, the compression plate 16 and the compression base 19 are not compressed, because the thread section of the lifting shaft 6 and the central hole of the circular base 1 form a movable thread pair, the circular base 1 rotates and moves downwards until the travelling wheel 7 touches the ground, the circular base 1 stops moving downwards, the controller 22 controls the stepping motor 2 to continue rotating anticlockwise, because the stepping motor 2 continues rotating anticlockwise, all components on the lifting shaft 6 and the stepping motor 2 move upwards relative to the circular base 1 until the upper surface of the supporting seat 18 contacts the lower surface of the circular base 1, the total anticlockwise rotation number of the stepping motor is K/P in the whole process, and the position of the guide rail lifting steering mechanism is shown as state 4 at this time, and the whole turning process is completed.
The track CD, DE segment movement is the same as the turn control process and track ABC segment, the track EF segment turn control process is the same as the track ABC segment, and after the point E turn is completed, the controller 22 controls the motor 14 to rotate counterclockwise to move the chassis from point E to point F.
The foregoing detailed description is provided to illustrate the present invention and not to limit the invention, and any modifications and changes made to the present invention within the spirit of the present invention and the scope of the appended claims fall within the scope of the present invention.
Claims (2)
1. The utility model provides a but birds house mobile robot chassis of in situ steering which characterized in that: the lifting steering mechanism mainly comprises a circular base (1), a lifting steering mechanism mainly comprising an angle sensor (4) and a stepping motor (2), a travelling mechanism mainly comprising a pair of driven travelling wheels (23) and a pair of driving travelling wheels (7) driven by a motor (14), four distance sensors (15) and a controller (22); four distance sensors (15) are respectively embedded in grooves at the edge of the circular base (1) at equal intervals, a pair of driving travelling wheels (7) and a pair of driven travelling wheels (23) are arranged on the circular base (1) in parallel, the pair of driving travelling wheels (7) and the pair of driven travelling wheels (23) can all penetrate through the rectangular grooves of the circular base (1) to be in contact with the ground, and a lifting steering mechanism is arranged on the circular base (1) and is positioned between the pair of driving travelling wheels (7) and the pair of driven travelling wheels (23); the controller (22) is fixed on the circular base (1), and the motor (14), the stepping motor (2), the angle sensor (4) and the four distance sensors (15) are electrically connected with the controller (22);
the lifting steering mechanism comprises a stepping motor (2), an angle sensor (4), a first coupler (5), a lifting shaft (6), a pressing plate (16), a pressing base (19), a unidirectional thrust bearing (17), a supporting seat (18), two guide rails (21) and a stepping motor supporting plate (20); two guide rails (21) are fixed on a circular base (1) along the directions parallel to a pair of driving travelling wheels (7) and a pair of driven travelling wheels (23), two ends of a stepping motor supporting plate (20) are positioned in the two guide rails (21) and form a guide rail pair with the two guide rails (21), a stepping motor (2) is fixed on one side surface of the stepping motor supporting plate (20), an angle sensor (4) is fixed on the stepping motor supporting plate (20), one end of a first coupler (5) is connected with the stepping motor (2), the other end of the first coupler (5) is connected with one end of a lifting shaft (6), a pressing plate (16) is fixed on the lifting shaft (6), the pressing plate (16) can be in contact with and pressed against the pressing base (19), after the other end of the lifting shaft (6) penetrates through the pressing base (19), threads at the bottom end of the lifting shaft (6) and a central threaded hole of the circular base (1) form a movable thread pair, and the movable thread pair is supported in a unidirectional thrust bearing (17) hole of a supporting seat (18), and the pressing base (19) is welded on the circular base (1);
the travelling mechanism comprises a motor (14), a first shaft (12), a third shaft (3), a second coupler (13), five bearing seats, five deep groove ball bearings, two bevel gears, a second shaft (8), a pair of driving travelling wheels (7) and a pair of driven travelling wheels (23); the motor (14) is fixed on the round base (1), one end of the second coupler (13) is connected with the motor (14), the other end of the second coupler (13) is connected with one end of the first shaft (12), the first shaft (12) passes through a first deep groove ball bearing hole of a first bearing seat arranged on the round base (1), a first bevel gear is arranged at the other end of the first shaft (12), the first bevel gear and a second bevel gear arranged on the second shaft (8) form a gear pair, the second shaft (8) respectively passes through a second bearing seat and a third bearing seat arranged on the round base (1) and is supported in the respective second and third deep groove ball bearing holes, and two ends of the second shaft (8) are respectively provided with a driving travelling wheel (7); the third shaft (3) respectively passes through a fourth bearing seat and a fifth bearing seat which are arranged on the round base (1) and is supported in respective fourth deep groove ball bearing holes and fifth deep groove ball bearing holes, and the two ends of the third shaft (3) are respectively provided with a driven travelling wheel (23).
2. A steerable poultry house mobile robot chassis as recited in claim 1, wherein: the compaction plate (16) is in contact compaction with the compaction base (19) through a conical surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310422.9A CN108099867B (en) | 2017-12-11 | 2017-12-11 | Poultry house mobile robot chassis capable of steering in situ |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310422.9A CN108099867B (en) | 2017-12-11 | 2017-12-11 | Poultry house mobile robot chassis capable of steering in situ |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108099867A CN108099867A (en) | 2018-06-01 |
| CN108099867B true CN108099867B (en) | 2023-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711310422.9A Active CN108099867B (en) | 2017-12-11 | 2017-12-11 | Poultry house mobile robot chassis capable of steering in situ |
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| CN (1) | CN108099867B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131633B (en) * | 2018-08-09 | 2020-12-01 | 安徽爱依特科技有限公司 | Mobile base and intelligent robot thereof |
| CN113404267A (en) * | 2021-06-21 | 2021-09-17 | 重庆珞维新材料科技有限公司 | Terrace robot |
| CN115027596B (en) * | 2022-04-19 | 2023-10-24 | 国网江苏省电力有限公司连云港供电分公司 | Automatic heavy object carrying device based on artificial intelligence is prevented inclining |
| CN115195907B (en) * | 2022-07-08 | 2023-03-10 | 广州市翔顺畜牧设备有限公司 | Intelligent observation vehicle for livestock and poultry house cage culture system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2772892B2 (en) * | 1992-04-21 | 1998-07-09 | 愛知電機株式会社 | Automatic turning device for self-propelled chemical sprayer |
| CN1769111A (en) * | 2004-11-05 | 2006-05-10 | 比亚迪股份有限公司 | Automobile autorotation and up-down device |
| CN206466015U (en) * | 2017-02-09 | 2017-09-05 | 赵志强 | A kind of unmanned vehicle steering |
| CN107215407B (en) * | 2017-05-16 | 2019-01-18 | 曹治 | The walking mechanism of mobile robot |
| CN207594926U (en) * | 2017-12-11 | 2018-07-10 | 浙江大学 | A kind of pouity dwelling place mobile robot chassis of energy pivot stud |
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| CN108099867A (en) | 2018-06-01 |
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