CN111011243A - Automatic sheep hair shearing robot - Google Patents
Automatic sheep hair shearing robot Download PDFInfo
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- CN111011243A CN111011243A CN202010053912.0A CN202010053912A CN111011243A CN 111011243 A CN111011243 A CN 111011243A CN 202010053912 A CN202010053912 A CN 202010053912A CN 111011243 A CN111011243 A CN 111011243A
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- wool
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- 241001494479 Pecora Species 0.000 title claims abstract description 78
- 238000010008 shearing Methods 0.000 title claims abstract description 32
- 210000004209 hair Anatomy 0.000 title description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 223
- 210000002268 wool Anatomy 0.000 claims abstract description 151
- 230000005540 biological transmission Effects 0.000 claims abstract description 139
- 230000001360 synchronised effect Effects 0.000 claims description 82
- 238000005086 pumping Methods 0.000 claims description 28
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 11
- 210000000003 hoof Anatomy 0.000 description 9
- 230000009471 action Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 241000883990 Flabellum Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 210000001520 comb Anatomy 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 241001074086 Peprilus triacanthus Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K13/00—Devices for grooming or caring of animals, e.g. curry-combs; Fetlock rings; Tail-holders; Devices for preventing crib-biting; Washing devices; Protection against weather conditions or insects
- A01K13/002—Curry-combs; Brushes
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of agricultural related robots, in particular to an automatic sheep shearing robot, which comprises a fixing mechanism, a linear driver, a sliding table, a shell, a chain wheel transmission mechanism, a chain wheel power mechanism, a wool cutting mechanism and a wool extracting mechanism, wherein the linear driver and the sliding table are respectively positioned at two sides of the shell, the fixing mechanism is positioned at the bottom of the shell, the chain wheel transmission mechanism is arranged inside the shell, the chain wheel power mechanism is arranged on the shell, the working end of the chain wheel power mechanism is connected with the stressed end of the chain wheel transmission mechanism, the wool cutting mechanism is arranged at the working end of the chain wheel transmission mechanism, and the working end of the wool extracting mechanism is arranged at the bottom of the shell. The pollution of wool and the danger of personnel inhalation caused by the flying of the miscellaneous wool are avoided.
Description
Technical Field
The invention relates to the field of agricultural related robots, in particular to an automatic wool shearing robot.
Background
Chinese patent CN201621020985.5 is a wool shearing auxiliary fixing rack, which comprises a fixing platform, a head fixing post and four leg fixing posts; the head fixing pile is arranged above the fixing platform and is positioned on one side of the fixing platform in the length direction; the four leg fixing columns are all installed on the fixed platform, two of the leg fixing columns are located on the left side of the width direction of the fixed platform, and the other two leg fixing columns are located on the right side of the width direction of the fixed platform. The utility model discloses a cut supplementary fixed rack of wool, drive the sheep to fixed platform on, utilize head spud pile, shank fixed column respectively with the sheep head and four legs fixed, improved the efficiency of cutting wool, reduced the labour of cutting wool work. After the wool shearing auxiliary fixing rack is adopted, one worker can finish the wool shearing work; however, the sheep can only be fixed by the aid of the automatic sheep shearing robot, wool on a sheep body can be removed in a final purpose, and accordingly the automatic sheep shearing robot can be used for conveniently removing wool on the sheep body while the sheep can be fixed.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an automatic wool shearing robot, which can carry out surrounding type shaving on a sheep body, so that the work is continuous, the production efficiency is greatly improved, wool can be timely recovered after being removed, and the pollution of the wool and the danger of personnel suction caused by the flying of miscellaneous wool are avoided.
In order to solve the technical problems, the invention provides the following technical scheme:
the automatic sheep shearing robot comprises a fixing mechanism, a linear driver, a sliding table, a shell, a chain wheel transmission mechanism, a chain wheel power mechanism, a wool cutting mechanism and a wool extracting mechanism;
linear drive ware and slip table are located the both sides of casing respectively, and the working end of linear drive ware and slip table all with casing fixed connection, fixed establishment is located the bottom of casing, sprocket drive installs in the inside of casing, sprocket drive installs on the casing, and sprocket drive's working end all is connected with sprocket drive's stress end, wool cutting mechanism installs in sprocket drive's working end, the wool is taken out one side that the mechanism is located the casing, and the wool is taken out the working end that the mechanism was installed in the bottom of casing.
The optimized chain wheel transmission mechanism comprises a first roller chain transmission assembly and a second roller chain transmission assembly, two installation chambers are arranged in the shell and are respectively located at two ends of the shell, the first roller chain transmission assembly and the second roller chain transmission assembly are respectively installed in the two installation chambers, the wool cutting mechanism is installed at the working ends of the first roller chain transmission assembly and the second roller chain transmission assembly, and the stress ends of the first roller chain transmission assembly and the second roller chain transmission assembly are connected with the output end of the chain wheel power mechanism.
The structure of preferred first roller chain drive subassembly and second roller chain drive subassembly is unanimous, and first roller chain drive subassembly is including gear, chain and pivot, and the pivot encircles the terminal surface setting of casing, and the pivot all with casing rotatable coupling to a plurality of pivots all run through the casing and are connected with sprocket power unit transmission, and the gear is located the installation indoor, and the gear all overlaps and locates on a plurality of pivots, and gear and pivot fixed connection, connect through chain transmission between a plurality of gears.
The optimized chain wheel power mechanism comprises a first synchronous transmission mechanism and a second synchronous transmission mechanism, the first synchronous transmission mechanism is installed at one end of the shell, the first synchronous transmission mechanism is close to the first roller chain transmission assembly, the output end of the first synchronous transmission mechanism is connected with the stress end of the first roller chain transmission assembly, the second synchronous transmission mechanism is installed at one end of the shell, the second synchronous transmission mechanism is close to the second roller chain transmission assembly, and the output end of the second synchronous transmission mechanism is connected with a plurality of rotating shafts of the second roller chain transmission assembly.
The structure of preferred first synchronous drive mechanism and second synchronous drive mechanism is unanimous, first synchronous drive mechanism is including first synchronizing wheel, the second synchronizing wheel, the third synchronizing wheel, first synchronous belt, the second hold-in range, first servo motor and right angle reduction gear, first synchronizing wheel is all installed in a plurality of pivots, connect through first synchronous belt transmission between a plurality of first synchronizing wheels, the second synchronizing wheel is installed in one of them a plurality of pivots on, first servo motor installs in the casing outer fringe, right angle reduction gear installs in first servo motor's output, the third synchronizing wheel is installed in right angle reduction gear's output, connect through second synchronous belt transmission between second synchronizing wheel and the third synchronizing wheel.
The preferred wool cutting mechanism comprises an elastic component, a shaver and a comb, wherein the two ends of the elastic component are respectively arranged on the chains of the first roller chain transmission component and the second roller chain transmission component, the shaver is arranged at the working end of the elastic component, the comb is arranged at the working end of the elastic component, and the working end of the comb is positioned at the working end of the shaver.
The preferred elastic component comprises a fixed plate, a sleeve rod and a spring, wherein two ends of the fixed plate are respectively arranged on the chains of the first roller chain transmission component and the second roller chain transmission component, the sleeve is arranged on the fixed plate, the sleeve rod is arranged in the sleeve, the spring is positioned between the sleeve and the sleeve rod, the output end of the sleeve rod faces towards the working chamber of the shell, and the shaver is arranged at the output end of the sleeve rod.
The preferable wool pumping mechanism comprises an air pumping head, an air pumping pipe, a blanking box and an air pumping power mechanism, wherein the air pumping head is installed at the bottom of the shell, a feed inlet of the air pumping head faces the inside of the shell, the air pumping head is connected with the blanking box through the air pumping pipe, and the air pumping power mechanism is installed on the blanking box.
The optimized air exhaust power mechanism comprises an air outlet pipe, a filter element, fan blades and a second servo motor, wherein the air outlet pipe is arranged in the blanking box, the filter element is arranged at the air inlet end of the air outlet pipe, the second servo motor is arranged at the air outlet end of the air outlet pipe, the fan blades are positioned in the air outlet pipe, and the fan blades are arranged at the output end of the second servo motor.
Preferred first linear actuator is including the fixing base, the work piece, the action wheel, from the driving wheel, third hold-in range and fourth servo motor, the work piece is installed on the fixing base, and work piece and fixing base sliding connection, the action wheel is installed respectively in the both ends of fixing base with from the driving wheel, the action wheel all with fixing base rotatable coupling from the driving wheel, the action wheel passes through third hold-in range transmission with follow driving wheel and is connected, third hold-in range and work piece fixed connection, on the third servo motor installation fixing base, and third servo motor's output is connected with the action wheel.
Compared with the prior art, the invention has the beneficial effects that: firstly, an operator grasps two front hooves of a sheep, then the front hooves and the head of the sheep penetrate through a shell, the trunk position of the sheep at the moment is positioned at the working end of a wool cutting mechanism, the fixing mechanism starts to work, the fixing mechanism fixes the four hooves and the head of the sheep, the wool cutting mechanism starts to work, the working end of the wool cutting mechanism is abutted against the trunk of the sheep, the wool cutting mechanism cuts wool at the trunk position of the sheep, a chain wheel power mechanism starts to work while the wool cutting mechanism works, the working end of the chain wheel power mechanism drives the stressed end of the chain wheel transmission mechanism to start to rotate, the chain wheel transmission mechanism starts to work after being stressed, the working end of the chain wheel transmission mechanism surrounds and slowly rotates along the trunk position of the sheep, the wool cutting mechanism is driven to surround the trunk position of the sheep when the chain wheel transmission mechanism works, the wool cutting mechanism cuts wool at one side, the chain wheel transmission mechanism is followed to surround the sheep body trunk on one side, and when the wool cutting mechanism surrounds the sheep body trunk, the working end of the wool cutting mechanism is cut layer by layer deeper until wool at the sheep body trunk is completely removed, when the wool cutting mechanism works, the wool extracting mechanism starts to work, wool which is removed by the wool cutting mechanism falls into the shell, the working end of the wool extracting mechanism is installed on the shell, the working end of the wool extracting mechanism faces the inside of the shell, the removed wool falls into the working end of the wool extracting mechanism, the suction force of the wool extracting mechanism is sucked, and finally the wool sucked by the wool extracting mechanism is uniformly recovered by workers, so that the situation that the wool falls onto the ground and is polluted in the traditional ground operation is avoided, and the cut wool cannot be collected in time by systematic work, from the efficiency that the mechanism alright improved production through the wool draw, but the sheep has big or small, wool cutting mechanism probably can not once only collect the wool of sheep trunk department, so just at this moment need remove the position of removal casing, linear actuator begins work, linear actuator's work end drives the casing and moves to sheep trunk department not by the position of clearing up, the slip table cooperation supports the casing and removes, then wool cutting mechanism, sprocket drive mechanism, sprocket power unit and wool draw from the mechanism and continue the cooperation and begin work.
1. Through the arrangement of the chain wheel transmission mechanism and the chain wheel power mechanism, the sheep body can be shaved in a surrounding manner, so that the work is continuous, and the production efficiency is greatly improved;
2. through the arrangement of the wool drawing-off mechanism, the wool can be timely recovered after being removed, so that the pollution of the wool and the danger of personnel suction caused by the flying of the miscellaneous wool are avoided.
Drawings
Fig. 1 is a schematic perspective view of an automatic sheep shearing robot according to the present invention;
FIG. 2 is a schematic perspective view of an automatic sheep shearing robot according to the present invention;
FIG. 3 is a first schematic perspective view of a linear actuator of an automatic sheep shearing robot according to the present invention;
FIG. 4 is a schematic diagram of the internal structure of the housing, the wool cutting mechanism, the sprocket transmission mechanism and the sprocket power mechanism of the automatic sheep shearing robot according to the present invention;
FIG. 5 is a schematic view of the internal structure of the housing, the chain wheel transmission mechanism and the chain wheel power mechanism of the automatic sheep shearing robot of the present invention;
FIG. 6 is a schematic perspective view of the housing and the sprocket power mechanism of the automatic sheep shearing robot according to the present invention;
FIG. 7 is a schematic perspective view of a wool cutting mechanism of an automatic wool shearing robot according to the present invention;
FIG. 8 is a schematic diagram of the internal structure of the wool cutting mechanism of the automatic wool shearing robot according to the present invention;
fig. 9 is a schematic perspective view of a wool extracting mechanism of an automatic wool shearing robot according to the present invention;
fig. 10 is a schematic diagram of an internal structure of a wool extracting mechanism of an automatic wool shearing robot according to the present invention.
The reference numbers in the figures are:
1. a fixing mechanism;
2. a linear actuator; 2a, a fixed seat; 2b, a working block; 2c, a driving wheel; 2d, driven wheels; 2e, a third synchronous belt; 2f, a third servo motor;
3. a sliding table;
4. a housing;
5. a sprocket drive mechanism; 5a, a first roller chain transmission assembly; 5a1, gear; 5a2, chain; 5a3, a rotating shaft; 5b, a second roller chain drive assembly;
6. a chain wheel power mechanism; 6a, a first synchronous transmission mechanism; 6a1, first sync wheel; 6a2, second synchronizing wheel; 6a3, third synchronizing wheel; 6a4, first timing belt; 6a5, second timing belt; 6a6, a first servomotor; 6a7, right angle reducer; 6b, a second synchronous transmission mechanism;
7. a wool cutting mechanism; 7a, an elastic component; 7a1, fixing plate; 7a2, sleeve; 7a3, loop bar; 7a4, spring; 7b, a shaver; 7c, a comb;
8. a wool extracting mechanism; 8a, an air exhaust head; 8b, an exhaust tube; 8c, blanking the material box; 8d, an air exhaust power mechanism; 8d1 and an air outlet pipe; 8d2, filter element; 8d3, fan blades; 8d4 and a second servo motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 to 10, an automatic sheep shearing robot includes a fixing mechanism 1, a linear driver 2, a sliding table 3, a housing 4, a sprocket transmission mechanism 5, a sprocket power mechanism 6, a wool cutting mechanism 7 and a wool extracting mechanism 8; the linear driver 2 and the sliding table 3 are respectively positioned at two sides of the shell 4, working ends of the linear driver 2 and the sliding table 3 are fixedly connected with the shell 4, the fixing mechanism 1 is positioned at the bottom of the shell 4, the chain wheel transmission mechanism 5 is installed inside the shell 4, the chain wheel power mechanism 6 is installed on the shell 4, the working ends of the chain wheel power mechanism 6 are connected with a stressed end of the chain wheel transmission mechanism 5, the wool cutting mechanism 7 is installed at the working end of the chain wheel transmission mechanism 5, the wool drawing-off mechanism 8 is positioned at one side of the shell 4, and the working end of the wool drawing-off mechanism 8 is installed at the bottom of the shell 4; firstly, a worker grasps two front hooves of a sheep, then the front hooves and the head of the sheep penetrate through the shell 4, the trunk position of the sheep at the moment is positioned at the working end of the wool cutting mechanism 7, the fixing mechanism 1 starts to work, the fixing mechanism 1 fixes the four hooves and the head of the sheep, the wool cutting mechanism 7 starts to work, the working end of the wool cutting mechanism 7 is abutted against the trunk of the sheep, the wool cutting mechanism 7 cuts wool at the trunk position of the sheep, the chain wheel power mechanism 6 starts to work when the wool cutting mechanism 7 works, the working end of the chain wheel power mechanism 6 drives the stressed end of the chain wheel transmission mechanism 5 to start to rotate, the chain wheel transmission mechanism 5 starts to work after being stressed, the working end of the chain wheel transmission mechanism 5 surrounds and slowly rotates along the trunk position of the sheep, and the chain wheel transmission mechanism 5 drives the wool cutting mechanism 7 to follow and surround the trunk position of the sheep when working, the wool cutting mechanism 7 cuts wool, the chain wheel transmission mechanism 5 is followed to surround the sheep body trunk, the working end of the wool cutting mechanism 7 is cut layer by layer when the wool cutting mechanism 7 surrounds the sheep body trunk until the wool at the sheep body trunk is completely removed, the wool extracting mechanism 8 starts to work when the wool cutting mechanism 7 works, the wool removed by the wool cutting mechanism 7 falls into the shell 4, the working end of the wool extracting mechanism 8 is arranged on the shell 4, the working end of the wool extracting mechanism 8 faces the inside of the shell 4, the removed wool falls into the working end of the wool extracting mechanism 8, the wool is sucked by the suction force of the wool extracting mechanism 8, and the wool sucked by the wool extracting mechanism 8 is recovered uniformly by workers, so that the phenomenon that the wool falls onto the ground and is polluted in the traditional ground operation is avoided, and the work that can not become the system will collect in time the wool that has cut off, take out from mechanism 8 alright with the efficiency that improves production through the wool, but the sheep has big or small, wool cutting mechanism 7 probably can not once only collect the wool of sheep trunk department, so just at this moment need remove the position of removal casing 4, linear actuator 2 begins work, linear actuator 2's work end drives casing 4 and moves to the position that sheep trunk department is not cleared up, 3 cooperations of slip table support casing 4 and removal, then wool cutting mechanism 7, sprocket drive mechanism 5, sprocket power unit 6 and wool take out from mechanism 8 and continue the cooperation and begin work.
The chain wheel transmission mechanism 5 comprises a first roller chain transmission component 5a and a second roller chain transmission component 5b, two installation chambers are arranged in the shell 4 and are respectively positioned at two ends of the shell 4, the first roller chain transmission component 5a and the second roller chain transmission component 5b are respectively installed in the two installation chambers, the wool cutting mechanism 7 is installed at the working ends of the first roller chain transmission component 5a and the second roller chain transmission component 5b, and the stress ends of the first roller chain transmission component 5a and the second roller chain transmission component 5b are connected with the output end of the chain wheel power mechanism 6;
the chain wheel power mechanism 6 starts to work, the output end of the two-wheel power mechanism drives the first roller chain transmission assembly 5a and the second roller chain transmission assembly 5b to simultaneously start to work, the working ends of the first roller chain transmission assembly 5a and the second roller chain transmission assembly 5b start to rotate around the shell 4, the working ends of the first roller chain transmission assembly 5a and the second roller chain transmission assembly 5b drive the wool cutting mechanism 7 to rotate around the trunk of the sheep body, and the wool cutting mechanism 7 starts to cut wool at the trunk of the sheep body.
The first roller chain transmission assembly 5a and the second roller chain transmission assembly 5b are identical in structure, the first roller chain transmission assembly 5a comprises a gear 5a1, a chain 5a2 and a rotating shaft 5a3, the rotating shaft 5a3 is arranged around the end face of the housing 4, the rotating shaft 5a3 is rotatably connected with the housing 4, the rotating shafts 5a3 penetrate through the housing 4 and are in transmission connection with the sprocket power mechanism 6, the gear 5a1 is located in the installation chamber, the gear 5a1 is sleeved on the rotating shafts 5a3, the gear 5a1 is fixedly connected with the rotating shaft 5a3, and the gears 5a1 are in transmission connection through the chain 5a 2;
the sprocket power mechanism 6 starts to work, the sprocket power mechanism 6 drives the plurality of rotating shafts 5a3 to rotate simultaneously, the plurality of rotating shafts 5a3 rotate simultaneously to drive the plurality of gears 5a1 to rotate simultaneously, and the plurality of gears 5a1 rotate simultaneously to drive the chain 5a2 to rotate.
The chain wheel power mechanism 6 comprises a first synchronous transmission mechanism 6a and a second synchronous transmission mechanism 6b, the first synchronous transmission mechanism 6a is arranged at one end of the shell 4, the first synchronous transmission mechanism 6a is close to the first roller chain transmission assembly 5a, the output end of the first synchronous transmission mechanism 6a is connected with the stressed end of the first roller chain transmission assembly 5a, the second synchronous transmission mechanism 6b is arranged at one end of the shell 4, the second synchronous transmission mechanism 6b is close to the second roller chain transmission assembly 5b, and the output end of the second synchronous transmission mechanism 6b is connected with a plurality of rotating shafts 5a3 of the second roller chain transmission assembly 5 b;
the chain wheel power mechanism 6 starts to work, the first synchronous transmission mechanism 6a and the second synchronous transmission mechanism 6b start to work simultaneously, and the first roller chain transmission assembly 5a and the second roller chain transmission assembly 5b start to work simultaneously after being stressed.
The first synchronous transmission mechanism 6a and the second synchronous transmission mechanism 6b have the same structure, the first synchronous transmission mechanism 6a comprises a first synchronous wheel 6a1, a second synchronous wheel 6a2 and a third synchronous wheel 6a3, the synchronous belt type electric motor comprises a first synchronous belt 6a4, a second synchronous belt 6a5, a first servo motor 6a6 and a right-angle reducer 6a7, wherein the first synchronous wheels 6a1 are all mounted on a plurality of rotating shafts 5a3, a plurality of first synchronous wheels 6a1 are in transmission connection through the first synchronous belt 6a4, the second synchronous wheel 6a2 is mounted on one of a plurality of rotating shafts 5a3, the first servo motor 6a6 is mounted at the outer edge of a shell 4, the right-angle reducer 6a7 is mounted at the output end of the first servo motor 6a6, the third synchronous wheel 6a3 is mounted at the output end of the right-angle reducer 6a7, and the second synchronous wheel 6a2 and the third synchronous wheel 6a3 are in transmission connection through the second synchronous belt 6a 5;
the first synchronous transmission mechanism 6a starts to work, the first servo motor 6a6 starts to work and drives the right-angle speed reducer 6a7 to rotate, the right-angle speed reducer 6a7 rotates and drives the third synchronizing wheel 6a3 to rotate, the third synchronizing wheel 6a3 drives the second synchronizing wheel 6a2 to rotate through the second synchronous belt 6a5, the second synchronizing wheel 6a2 rotates and drives one of the rotating shafts 5a3 to rotate, after the rotating shaft 5a3 rotates, the first synchronizing wheel 6a4 is driven to rotate through the first synchronous wheel 6a1, the first synchronizing wheel 6a4 drives other first synchronizing wheels 6a1 which do not rotate to rotate together, and finally all the rotating shafts 5a3 rotate together.
The wool cutting mechanism 7 comprises an elastic component 7a, a shaver 7b and a comb 7c, wherein the elastic component 7a is arranged, two ends of the elastic component 7a are respectively arranged on the chains 5a2 of the first roller chain transmission component 5a and the second roller chain transmission component 5b, the shaver 7b is arranged at the working end of the elastic component 7a, the comb 7c is arranged at the working end of the elastic component 7a, and the working end of the comb 7c is positioned at the working end of the shaver 7 b;
the elastic component 7a is driven by the chain 5a2 of the first roller chain transmission component 5a and the second roller chain transmission component 5b to rotate around the body of the sheep, the elastic component 7a drives the comb 7c, the comb 7c combs wool, and then the shaver 7b removes the combed wool, and the shaver 7b is a device for removing wool and is equivalent to a large-size shaver.
The elastic component 7a comprises a fixed plate 7a1, a sleeve 7a2, a loop bar 7a3 and a spring 7a4, wherein two ends of the fixed plate 7a1 are respectively mounted on the chains 5a2 of the first roller chain transmission component 5a and the second roller chain transmission component 5b, the sleeve 7a2 is mounted on the fixed plate 7a1, the loop bar 7a3 is mounted inside the sleeve 7a2, the spring 7a4 is located between the sleeve 7a2 and the loop bar 7a3, an output end of the loop bar 7a3 faces the working chamber of the housing 4, and the shaver 7b is mounted at an output end of the loop bar 7a 3;
the elastic component 7a can determine the approaching degree of the shaver 7b according to the volume of the sheep, when the sheep is initially shaved, the shaver 7b is pressed by the sheep body to push the loop bar 7a3, the loop bar 7a3 is pressed into the sleeve 7a2, and when the sheep is shaved thinner, the spring 7a4 pushes the loop bar 7a3, and the shaver 7b approaches the sheep body.
The wool pumping mechanism 8 comprises an air pumping head 8a, an air pumping pipe 8b, a blanking box 8c and an air pumping power mechanism 8d, wherein the air pumping head 8a is arranged at the bottom of the shell 4, a feed inlet of the air pumping head 8a faces the inside of the shell 4, the air pumping head 8a is connected with the blanking box 8c through the air pumping pipe 8b, and the air pumping power mechanism 8d is arranged on the blanking box 8 c;
the wool pumping mechanism 8 starts to work, the air exhaust power mechanism 8d pumps air in the blanking box 8c away to form negative pressure, and the air exhaust head 8a conveys wool falling from the shell 4 into the blanking box 8c through the air exhaust pipe 8 b.
The air exhaust power mechanism 8d comprises an air outlet pipe 8d1, a filter element 8d2, fan blades 8d3 and a second servo motor 8d4, the air outlet pipe 8d1 is installed in the blanking box 8c, the filter element 8d2 is installed at the air inlet end of the air outlet pipe 8d1, the second servo motor 8d4 is installed at the air outlet end of the air outlet pipe 8d1, the fan blades 8d3 are located in the air outlet pipe 8d1, and the fan blades 8d3 are installed at the output end of the second servo motor 8d 4;
air suction power mechanism 8d begins to work, second servo motor 8d4 begins to work, second servo motor 8d4 drives flabellum 8d3 and rotates flabellum 8d3 and rotate and drive the air and take out the air in blanking box 8c and form the negative pressure by outlet duct 8d1, filter core 8d2 is used for preventing the wool hinge post flabellum 8d3, be equipped with the drawer on blanking box 8c, when blanking box 8c is full, can accomplish the collection to the wool through changing the drawer.
The first linear driver 2 comprises a fixed seat 2a, a working block 2b, a driving wheel 2c, a driven wheel 2d, a third synchronous belt 2e and a fourth servo motor, wherein the working block 2b is installed on the fixed seat 2a, the working block 2b is connected with the fixed seat 2a in a sliding mode, the driving wheel 2c and the driven wheel 2d are installed at two ends of the fixed seat 2a respectively, the driving wheel 2c and the driven wheel 2d are both rotatably connected with the fixed seat 2a, the driving wheel 2c and the driven wheel 2d are in transmission connection through the third synchronous belt 2e, the third synchronous belt 2e is fixedly connected with the working block 2b, a third servo motor 2f is installed on the fixed seat 2a, and the output end of the third servo motor 2f is connected with the driving wheel 2 c;
the linear driver 2 starts to work, the third servo motor 2f drives the driving wheel 2c to rotate, the driving wheel 2c drives the third synchronous belt 2e to move, and the third synchronous belt 2e moves to drive the working block 2b to move.
The working principle of the invention is as follows: firstly, an operator grasps two front hooves of a sheep, then the front hooves and the head of the sheep penetrate through the shell 4, the trunk of the sheep is positioned at the working end of the wool cutting mechanism 7, the fixing mechanism 1 starts to work, the fixing mechanism 1 fixes the four hooves and the head of the sheep, the hair shaver 7b starts to work, the working end of the comb 7c is abutted against the trunk of the sheep, the hair shaver 7b removes wool combed by the comb 7c, the sprocket power mechanism 6 starts to work while the hair shaver 7b works, the first synchronous transmission mechanism 6a and the second synchronous transmission mechanism 6b start to work simultaneously, the first servo motor 6a6 starts to work and drives the right-angle reducer 6a7 to rotate, the right-angle reducer 6a7 rotates and drives the third synchronous wheel 6a3 to rotate, the third synchronous wheel 6a3 drives the second synchronous wheel 6a2 to rotate through the second synchronous belt 6a5, the second synchronizing wheel 6a2 rotates to drive one of the rotating shafts 5a3 to rotate, after the rotating shafts 5a3 rotate, the first synchronizing belt 6a4 is driven to rotate by the first synchronizing wheel 6a1, the first synchronizing belt 6a4 drives the other non-rotating first synchronizing wheels 6a1 to rotate together, finally all the rotating shafts 5a3 rotate together, the rotating shafts 5a3 rotate simultaneously to drive the gears 5a1 to rotate simultaneously, the gears 5a1 rotate simultaneously to drive the chain 5a2 to rotate, the elastic component 7a is driven by the chains 5a2 of the first roller chain transmission component 5a and the second roller chain transmission component 5b to rotate around the body of the sheep, the elastic component 7a drives the comb 7c, the comb 7c combs the wool, then the wool shavers 7b remove the combed wool, and the elastic component 7a can determine the approaching degree of the wool shavers 7b according to the size of the volume of the sheep, when shaving is started, the shaver 7b is pressed by the sheep body to push the loop bar 7a3, the loop bar 7a3 is pressed into the sleeve 7a2 under force, when the wool is thinner and thinner, the spring 7a4 pushes the loop bar 7a3, so that the working end of the shaver 7b close to the sheep body is cut deeper layer by layer until the wool at the body trunk is completely removed, the wool extracting mechanism 8 starts working while the wool cutting mechanism 7 works, the wool removed by the wool cutting mechanism 7 falls into the shell 4, the wool extracting mechanism 8 starts working, the air exhaust power mechanism 8d starts working, the second servo motor 8d4 starts working, the second servo motor 8d4 drives the fan blade 8d3 to rotate the blanking 8d3 to drive air and pump the air in the air exhaust box 8c out through the air outlet pipe 8d1 to form negative pressure, and the air exhaust head 8a conveys the fallen wool in the shell 4 to the fan blade 8c through the air outlet pipe 8d1, the drawer is arranged on the blanking box 8c, when the blanking box 8c is full, wool can be collected by replacing the drawer and finally recycled by workers in a unified way, which also ensures that the wool is prevented from falling to the ground and being polluted in the traditional ground operation, and can not be systematically worked to collect the cut wool in time, the production efficiency can be improved by the wool drawing mechanism 8, however, the sheep have large and small sheep, the wool cutting mechanism 7 may not be able to collect the wool at the body trunk of the sheep at one time, therefore, the position of the shell 4 needs to be moved, the linear driver 2 starts to work, the working end of the linear driver 2 drives the shell 4 to move to the part of the sheep trunk which is not cleaned, the sliding table 3 supports the shell 4 and moves in a matching way, then the wool cutting mechanism 7, the chain wheel transmission mechanism 5, the chain wheel power mechanism 6 and the wool drawing mechanism 8 are continuously matched to start working.
Claims (10)
1. An automatic sheep shearing robot is characterized by comprising a fixing mechanism (1), a linear driver (2), a sliding table (3), a shell (4), a chain wheel transmission mechanism (5), a chain wheel power mechanism (6), a wool cutting mechanism (7) and a wool extracting mechanism (8); linear actuator (2) and slip table (3) are located the both sides of casing (4) respectively, and the work end of linear actuator (2) and slip table (3) all with casing (4) fixed connection, fixed establishment (1) is located the bottom of casing (4), install in the inside of casing (4) sprocket drive mechanism (5), install on casing (4) sprocket drive mechanism (6), and the work end of sprocket drive mechanism (6) all is connected with the atress end of sprocket drive mechanism (5), wool cutting mechanism (7) are installed in the work end of sprocket drive mechanism (5), wool is taken out one side that mechanism (8) are located casing (4), and the work end of wool is taken out and is installed in the bottom of casing (4) from mechanism (8).
2. The automatic sheep shearing robot as claimed in claim 1, wherein the chain wheel transmission mechanism (5) comprises a first roller chain transmission assembly (5 a) and a second roller chain transmission assembly (5 b), two installation chambers are arranged in the housing (4), the two installation chambers are respectively located at two ends of the housing (4), the first roller chain transmission assembly (5 a) and the second roller chain transmission assembly (5 b) are respectively installed in the two installation chambers, the wool cutting mechanism (7) is installed at the working ends of the first roller chain transmission assembly (5 a) and the second roller chain transmission assembly (5 b), and the stress ends of the first roller chain transmission assembly (5 a) and the second roller chain transmission assembly (5 b) are connected with the output end of the chain wheel power mechanism (6).
3. The automatic sheep shearing robot as claimed in claim 2, wherein the first roller chain drive assembly (5 a) and the second roller chain drive assembly (5 b) are identical in structure, the first roller chain drive assembly (5 a) comprises a gear (5 a 1), a chain (5 a 2) and a rotating shaft (5 a 3), the rotating shaft (5 a 3) is arranged around the end face of the housing (4), the rotating shaft (5 a 3) is rotatably connected with the housing (4), the rotating shafts (5 a 3) are in transmission connection with the chain wheel power mechanism (6) through the housing (4), the gear (5 a 1) is located in the installation chamber, the gears (5 a 1) are sleeved on the rotating shafts (5 a 3), the gears (5 a 1) are fixedly connected with the rotating shaft (5 a 3), and the gears (5 a 1) are in transmission connection with each other through the chain (5 a 2).
4. An automatic sheep shearing robot as claimed in claim 3, characterized in that the sprocket power mechanism (6) comprises a first synchronous transmission mechanism (6 a) and a second synchronous transmission mechanism (6 b), the first synchronous transmission mechanism (6 a) is mounted at one end of the housing (4), the first synchronous transmission mechanism (6 a) is close to the first roller chain transmission assembly (5 a), and the output end of the first synchronous transmission mechanism (6 a) is connected with the stressed end of the first roller chain transmission assembly (5 a), the second synchronous transmission mechanism (6 b) is mounted at one end of the housing (4), the second synchronous transmission mechanism (6 b) is close to the second roller chain transmission assembly (5 b), and the output end of the second synchronous transmission mechanism (6 b) is connected with the plurality of rotating shafts (5 a 3) of the second roller chain transmission assembly (5 b).
5. An automatic sheep shearing robot as claimed in claim 4, wherein the first synchronous transmission mechanism (6 a) and the second synchronous transmission mechanism (6 b) have the same structure, the first synchronous transmission mechanism (6 a) comprises a first synchronous wheel (6 a 1), a second synchronous wheel (6 a 2), a third synchronous wheel (6 a 3), a first synchronous belt (6 a 4), a second synchronous belt (6 a 5), a first servo motor (6 a 6) and a right angle reducer (6 a 7), the first synchronous wheel (6 a 1) is mounted on a plurality of rotating shafts (5 a 3), the plurality of first synchronous wheels (6 a 1) are in transmission connection through the first synchronous belt (6 a 4), the second synchronous wheel (6 a 2) is mounted on one of the plurality of rotating shafts (5 a 3), the first servo motor (6 a 6) is mounted on the housing (4), the right angle reducer (6 a7 a) is mounted on the output end of the first servo motor (6 a 6), the third synchronizing wheel (6 a 3) is mounted at the output end of the right-angle speed reducer (6 a 7), and the second synchronizing wheel (6 a 2) and the third synchronizing wheel (6 a 3) are in transmission connection through a second synchronous belt (6 a 5).
6. An automatic sheep-shearing robot as claimed in claim 3, characterized in that the wool cutting mechanism (7) comprises an elastic assembly (7 a), a shaver (7 b), and a comb (7 c), the elastic assembly (7 a), both ends of the elastic assembly (7 a) are respectively mounted on the chains (5 a 2) of the first roller chain drive assembly (5 a) and the second roller chain drive assembly (5 b), the shaver (7 b) is mounted on the working end of the elastic assembly (7 a), the comb (7 c) is mounted on the working end of the elastic assembly (7 a), and the working end of the comb (7 c) is located at the working end of the shaver (7 b).
7. An automatic sheep shearing robot as claimed in claim 6, characterized in that the elastic assembly (7 a) comprises a fixed plate (7 a 1), a sleeve (7 a 2), a rod (7 a 3) and a spring (7 a 4), the fixed plate (7 a 1) is mounted at its two ends on the chain (5 a 2) of the first roller chain drive assembly (5 a) and the second roller chain drive assembly (5 b), respectively, the sleeve (7 a 2) is mounted on the fixed plate (7 a 1), the rod (7 a 3) is mounted inside the sleeve (7 a 2), the spring (7 a 4) is located between the sleeve (7 a 2) and the rod (7 a 3), the output end of the rod (7 a 3) faces the working chamber of the housing (4), and the shaver (7 b) is mounted at the output end of the rod (7 a 3).
8. The automatic sheep shearing robot as claimed in claim 1, wherein the wool pumping mechanism (8) comprises an air pumping head (8 a), an air pumping pipe (8 b), a blanking box (8 c) and an air pumping power mechanism (8 d), the air pumping head (8 a) is installed at the bottom of the shell (4), a feeding hole of the air pumping head (8 a) faces the interior of the shell (4), the air pumping pipe (8 b) connects the air pumping head (8 a) with the blanking box (8 c), and the air pumping power mechanism (8 d) is installed on the blanking box (8 c).
9. The automatic sheep shearing robot as claimed in claim 8, wherein the air exhaust power mechanism (8 d) comprises an air outlet pipe (8 d 1), a filter element (8 d 2), fan blades (8 d 3) and a second servo motor (8 d 4), the air outlet pipe (8 d 1) is installed in the blanking box (8 c), the filter element (8 d 2) is installed at the air inlet end of the air outlet pipe (8 d 1), the second servo motor (8 d 4) is installed at the air outlet end of the air outlet pipe (8 d 1), the fan blades (8 d 3) are located in the air outlet pipe (8 d 1), and the fan blades (8 d 3) are installed at the output end of the second servo motor (8 d 4).
10. The automatic sheep shearing robot as claimed in claim 1, wherein the first linear driver (2) comprises a fixed seat (2 a), a working block (2 b), a driving wheel (2 c), a driven wheel (2 d), a third synchronous belt (2 e) and a fourth servo motor, the working block (2 b) is mounted on the fixed seat (2 a), the working block (2 b) is slidably connected with the fixed seat (2 a), the driving wheel (2 c) and the driven wheel (2 d) are respectively mounted at two ends of the fixed seat (2 a), the driving wheel (2 c) and the driven wheel (2 d) are both rotatably connected with the fixed seat (2 a), the driving wheel (2 c) and the driven wheel (2 d) are in transmission connection through the third synchronous belt (2 e), the third synchronous belt (2 e) is fixedly connected with the working block (2 b), the third servo motor (2 f) is mounted on the fixed seat (2 a), and the output end of the third servo motor (2 f) is connected with the driving wheel (2 c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010053912.0A CN111011243A (en) | 2020-01-17 | 2020-01-17 | Automatic sheep hair shearing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010053912.0A CN111011243A (en) | 2020-01-17 | 2020-01-17 | Automatic sheep hair shearing robot |
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| Publication Number | Publication Date |
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| CN111011243A true CN111011243A (en) | 2020-04-17 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010053912.0A Withdrawn CN111011243A (en) | 2020-01-17 | 2020-01-17 | Automatic sheep hair shearing robot |
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| Country | Link |
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| CN (1) | CN111011243A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112997909A (en) * | 2021-01-27 | 2021-06-22 | 上海汇圣林业有限公司 | Automatic equipment of shaving of lamb |
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| WO2010085157A1 (en) * | 2009-01-22 | 2010-07-29 | Shoof International Limited | Cutting device |
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| CN108353814A (en) * | 2018-04-15 | 2018-08-03 | 吴利伟 | A kind of sheep shearing robot |
| CN109397344A (en) * | 2018-12-24 | 2019-03-01 | 中国农业科学院兰州畜牧与兽药研究所 | A kind of herding wool clipping device |
| CN209120956U (en) * | 2018-08-07 | 2019-07-19 | 王守忠 | It is a kind of with the wool clipping device for preventing from causing sheep damage |
| CN209364687U (en) * | 2018-12-24 | 2019-09-10 | 中国农业科学院兰州畜牧与兽药研究所 | A kind of herding wool clipping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2048045A (en) * | 1979-04-05 | 1980-12-10 | Parke T J | Sheep-shearing Apparatus |
| CN201143691Y (en) * | 2007-12-24 | 2008-11-05 | 乌鲁木齐北元工贸有限公司 | Direct-action type electric sheep clipper |
| WO2010085157A1 (en) * | 2009-01-22 | 2010-07-29 | Shoof International Limited | Cutting device |
| AU2013315340A1 (en) * | 2012-09-13 | 2015-05-07 | Ferrolino Pty Ltd | Pet grooming appliance |
| CN108353814A (en) * | 2018-04-15 | 2018-08-03 | 吴利伟 | A kind of sheep shearing robot |
| CN209120956U (en) * | 2018-08-07 | 2019-07-19 | 王守忠 | It is a kind of with the wool clipping device for preventing from causing sheep damage |
| CN109397344A (en) * | 2018-12-24 | 2019-03-01 | 中国农业科学院兰州畜牧与兽药研究所 | A kind of herding wool clipping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112997909A (en) * | 2021-01-27 | 2021-06-22 | 上海汇圣林业有限公司 | Automatic equipment of shaving of lamb |
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Application publication date: 20200417 |