CN113400278A - Pig vaccine injection robot - Google Patents
Pig vaccine injection robot Download PDFInfo
- Publication number
- CN113400278A CN113400278A CN202110533219.8A CN202110533219A CN113400278A CN 113400278 A CN113400278 A CN 113400278A CN 202110533219 A CN202110533219 A CN 202110533219A CN 113400278 A CN113400278 A CN 113400278A
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- mechanical arm
- degree
- pig
- freedom
- mobile platform
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- 238000002347 injection Methods 0.000 title claims abstract description 46
- 239000007924 injection Substances 0.000 title claims abstract description 46
- 229960005486 vaccine Drugs 0.000 title claims abstract description 23
- 241000282898 Sus scrofa Species 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 241000282887 Suidae Species 0.000 description 2
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 206010037660 Pyrexia Diseases 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D7/00—Devices or methods for introducing solid, liquid, or gaseous remedies or other materials into or onto the bodies of animals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
- A61M5/178—Syringes
- A61M5/31—Details
- A61M5/32—Needles; Details of needles pertaining to their connection with syringe or hub; Accessories for bringing the needle into, or holding the needle on, the body; Devices for protection of needles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2250/00—Specially adapted for animals
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Zoology (AREA)
- Wood Science & Technology (AREA)
- Vascular Medicine (AREA)
- Anesthesiology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
A pig vaccine injection robot comprises a hand-eye system and a mobile platform which are sequentially overlapped from top to bottom; the hand-eye system comprises a six-degree-of-freedom serial mechanical arm, a binocular depth camera, a control box body and a contact type high-pressure injection needle head, wherein the high-pressure injection needle head is installed at the execution tail end of the six-degree-of-freedom serial mechanical arm, and the binocular depth camera is installed between the high-pressure injection needle head and the execution tail end through an annular connecting piece; the mobile platform comprises two driving wheels and two driven wheels which support the whole mobile platform, a storage battery which is used for providing energy for the whole pig vaccine injection robot, a control circuit board which controls the chassis to move, a vision camera which provides vision navigation and a turntable which drives the bottom of a six-freedom-degree serial mechanical arm to rotate. The invention can use a high-freedom mode to carry out quick reading positioning and injection on the position and the injection part of the pig in a pig farm with various conditions, thereby improving the efficiency and the safety of injecting the vaccine to the pig.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to a pig vaccine injection robot.
Background
The pig vaccine is a very important step in the pig breeding process, and in recent years, swine fever frequently occurs, so that the number of healthy pigs is sharply reduced, and the vaccine injection of pigs is a key in the breeding. The use is artifical carries out the bacterin injection to the pig, not only can raise the cost, has the probability to bring virus and bacterium into the pig plant when the people gets into the pig plant moreover, so pig bacterin injection realizes the automation and is urgent need.
Disclosure of Invention
In order to overcome the defects of certain potential safety hazards and high labor cost of manual operation in the prior art, the invention provides a pig vaccine injection robot, which solves the problem of manual pig vaccine injection operation in the prior art.
In order to solve the technical problems, the invention provides the following technical scheme:
a pig vaccine injection robot is used in animal husbandry places and comprises a hand-eye system and a mobile platform which are sequentially overlapped from top to bottom; the hand-eye system comprises a six-degree-of-freedom serial mechanical arm, a binocular depth camera, a control box body and a contact type high-pressure injection needle head, wherein the high-pressure injection needle head is installed at the execution tail end of the six-degree-of-freedom serial mechanical arm, and the binocular depth camera is installed between the high-pressure injection needle head and the execution tail end through an annular connecting piece; the mobile platform comprises two driving wheels and two driven wheels which support the whole mobile platform, a storage battery which is used for providing energy for the whole pig vaccine injection robot, a control circuit board which controls the chassis to move, a vision camera which provides vision navigation and a turntable which drives the bottom of a six-freedom-degree serial mechanical arm to rotate.
Further, the hand-eye system consists of a six-degree-of-freedom serial mechanical arm, a high-pressure injection needle and a binocular depth camera, wherein the high-pressure injection needle is directly fixed at the execution tail end of the six-degree-of-freedom serial mechanical arm through a bolt; the binocular depth camera is fixed at the execution tail end of the six-degree-of-freedom series mechanical arm through an annular connecting piece.
Still further, the control box body comprises a box body and an industrial personal computer, the industrial personal computer is fixed on the box body through bolts and nuts, and the box body is fixed on the mobile platform.
The carousel includes pinion, gear wheel and carousel casing, the pinion is direct to be connected with driving motor, gear wheel and pinion mesh the installation, carousel casing suit is in pinion and gear wheel outside to fix the gear wheel with the bolt.
The movable platform is provided with a bearing seat, a transmission shaft penetrates through the bearing seat, the transmission shaft is directly connected with a driven wheel and a driving wheel, the other end of the transmission shaft is connected with a speed reducer, and the speed reducer is directly connected with a driving motor. The driven wheel and the driving wheel are connected and driven through a chain, the storage battery is directly fixed at the bottom of the mobile platform through a bolt, the mobile platform is covered with a detachable top plate, and a vision camera is installed at the edge of the detachable top plate.
The invention has the beneficial effects that: 1. the six-degree-of-freedom serial mechanical arm and the turntable below the six-degree-of-freedom serial mechanical arm move together to form a high-degree-of-freedom movement space, and the high-pressure injection needle can reach a target position in various postures. 2. The binocular depth camera is combined with the six-degree-of-freedom serial mechanical arm, so that the injection can be performed on the pig, and all body parts of the pig can be identified and injected. 3. The vision camera is fixed in the front of the mobile platform, can detect obstacles around the robot in real time, and effectively avoids the collision condition of the robot.
Drawings
Fig. 1 is a perspective view of a pig vaccine injection robot according to an embodiment of the present invention;
FIG. 2 is a perspective view of a mobile platform of an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a mobile platform of an embodiment of the present invention;
FIG. 4 is a carousel gear diagram of an upper portion of a carousel according to an embodiment of the present invention;
FIG. 5 is a front view of the structure of the housing of the turntable of the embodiment of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 5, a pig vaccine injection robot. The pig vaccine injection robot is used in animal husbandry places, particularly pig farms, and comprises a hand-eye system and a mobile platform 6 which are sequentially overlapped from top to bottom; the hand-eye system comprises a six-degree-of-freedom serial mechanical arm 4, a binocular depth camera 1, a control box body and a contact type high-pressure injection needle 2, wherein the high-pressure injection needle 2 is installed at the execution tail end of the six-degree-of-freedom serial mechanical arm 4, and the binocular depth camera 1 is installed between the high-pressure injection needle and the execution tail end through an annular connecting piece 3; the moving platform 6 comprises two driving wheels 61 and two driven wheels 62 supporting the whole moving platform, a storage battery 610 for providing energy for the whole pig vaccine injection robot, a control circuit board for controlling the chassis to move, a vision camera 64 for providing vision navigation and a turntable 5 for driving the bottom of the six-degree-of-freedom serial mechanical arm to rotate.
After the driving motor 68 obtains the energy of the storage battery 610, a larger driving force is obtained after the speed reduction of the speed reducer 67, the driving force is provided for the driving wheel 61 through the transmission shaft 65 erected on the bearing frame 66, the driving wheel 61 drives the driven wheel to rotate together through the chain 69, and under the synergistic effect of the four wheels, the moving platform 6 can complete linear motion and turning.
Before moving, the robot loads a two-dimensional map of the pig farm and then walks on a route obtained by mission planning. The visual cameras 64 fixed at the front and the rear of the mobile platform 6 can detect various obstacles on the robot stroke through visual information to avoid collision behaviors of the robot in the walking process.
In the moving process of the robot, part of postures cannot pass through a narrow channel, at this time, the turntable 5 needs to be used for rotating, and meanwhile, the six-degree-of-freedom serial mechanical arm 4 on the turntable 5 is driven to rotate, so that the width of the whole robot is adjusted to pass through the narrow channel. Moreover, the turntable 5 can realize high-freedom motion by matching with the six-freedom-degree series mechanical arm 4, and simultaneously, under the assistance of the binocular depth camera 1 arranged at the execution tail end of the mechanical arm, under the condition of not moving the moving platform 6, the high-pressure injection needle 2 at the execution tail end can be sent to any position within an accessible range in various postures, finally the high-pressure injection needle 2 is adjusted to the injection part of the pig, then contact type high-pressure injection is carried out, and the vaccine in the liquid medicine bottle is injected into the body of the pig.
The embodiments described in this specification are merely illustrative of implementations of the inventive concepts, which are intended for purposes of illustration only. The scope of the present invention should not be construed as being limited to the particular forms set forth in the examples, but rather as being defined by the claims and the equivalents thereof which can occur to those skilled in the art upon consideration of the present inventive concept.
Claims (5)
1. The pig vaccine injection robot is characterized by comprising a hand-eye system and a moving platform which are sequentially overlapped from top to bottom; the hand-eye system comprises a six-degree-of-freedom serial mechanical arm, a binocular depth camera, a control box body and a contact type high-pressure injection needle head, wherein the high-pressure injection needle head is installed at the execution tail end of the six-degree-of-freedom serial mechanical arm, and the binocular depth camera is installed between the high-pressure injection needle head and the execution tail end through an annular connecting piece; the mobile platform comprises two driving wheels and two driven wheels which support the whole mobile platform, a storage battery which is used for providing energy for the whole pig vaccine injection robot, a control circuit board which controls the chassis to move, a vision camera which provides vision navigation and a turntable which drives the bottom of a six-freedom-degree serial mechanical arm to rotate.
2. The pig vaccine injection robot of claim 1, wherein the hand-eye system is composed of a six-degree-of-freedom serial mechanical arm, a high pressure injection needle and a binocular depth camera, the high pressure injection needle is directly fixed at the execution end of the six-degree-of-freedom serial mechanical arm through a bolt; the binocular depth camera is fixed at the execution tail end of the six-degree-of-freedom series mechanical arm through an annular connecting piece.
3. The pig vaccine injection robot of claim 1 or 2, wherein the control box body comprises a box body and an industrial personal computer, the industrial personal computer is fixed on the box body through bolts and nuts, and the box body is fixed on the mobile platform.
4. The swine vaccine injection robot according to claim 1 or 2, wherein the turntable comprises a pinion gear, a gearwheel gear and a turntable housing, the pinion gear is directly connected with the driving motor, the gearwheel gear and the pinion gear are installed in a meshed manner, the turntable housing is sleeved outside the pinion gear and the gearwheel gear, and the gearwheel gear is fixed by bolts.
5. The pig vaccine injection robot according to claim 1 or 2, wherein a bearing seat is installed on the moving platform, a transmission shaft passes through the bearing seat, the transmission shaft is directly connected with a driven wheel and a driving wheel, the other end of the transmission shaft is connected with a speed reducer, and the speed reducer is directly connected with a driving motor; the driven wheel and the driving wheel are connected and driven through a chain, the storage battery is directly fixed at the bottom of the mobile platform through a bolt, the mobile platform is covered with a detachable top plate, and a vision camera is installed at the edge of the detachable top plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110533219.8A CN113400278A (en) | 2021-05-17 | 2021-05-17 | Pig vaccine injection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110533219.8A CN113400278A (en) | 2021-05-17 | 2021-05-17 | Pig vaccine injection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113400278A true CN113400278A (en) | 2021-09-17 |
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ID=77678788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110533219.8A Pending CN113400278A (en) | 2021-05-17 | 2021-05-17 | Pig vaccine injection robot |
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| CN (1) | CN113400278A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113973652A (en) * | 2021-10-26 | 2022-01-28 | 力源新资源开发(广东)有限公司 | Automatic inoculation equipment for efficiently obtaining cordyceps sinensis |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05138091A (en) * | 1991-11-13 | 1993-06-01 | Japan Tobacco Inc | Chemical agent spraying robot |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN108553196A (en) * | 2018-05-15 | 2018-09-21 | 中国农业科学院农业信息研究所 | It is a kind of to be used for break beak and the automatic device and autocontrol method of vaccine injection |
| CN111409056A (en) * | 2020-04-29 | 2020-07-14 | 天津航天机电设备研究所 | Omnidirectional mobile robot |
| CN112587760A (en) * | 2020-12-18 | 2021-04-02 | 万鑫精工(湖南)股份有限公司 | A mechanical arm device for bacterin injection |
-
2021
- 2021-05-17 CN CN202110533219.8A patent/CN113400278A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05138091A (en) * | 1991-11-13 | 1993-06-01 | Japan Tobacco Inc | Chemical agent spraying robot |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN108553196A (en) * | 2018-05-15 | 2018-09-21 | 中国农业科学院农业信息研究所 | It is a kind of to be used for break beak and the automatic device and autocontrol method of vaccine injection |
| CN111409056A (en) * | 2020-04-29 | 2020-07-14 | 天津航天机电设备研究所 | Omnidirectional mobile robot |
| CN112587760A (en) * | 2020-12-18 | 2021-04-02 | 万鑫精工(湖南)股份有限公司 | A mechanical arm device for bacterin injection |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113973652A (en) * | 2021-10-26 | 2022-01-28 | 力源新资源开发(广东)有限公司 | Automatic inoculation equipment for efficiently obtaining cordyceps sinensis |
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| PB01 | Publication | ||
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Application publication date: 20210917 |