CN114800548B - Grabbing device is used to beasts and birds house - Google Patents
Grabbing device is used to beasts and birds house Download PDFInfo
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- CN114800548B CN114800548B CN202210332026.0A CN202210332026A CN114800548B CN 114800548 B CN114800548 B CN 114800548B CN 202210332026 A CN202210332026 A CN 202210332026A CN 114800548 B CN114800548 B CN 114800548B
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- 230000007246 mechanism Effects 0.000 claims abstract description 151
- 244000144972 livestock Species 0.000 claims abstract description 67
- 244000144977 poultry Species 0.000 claims abstract description 65
- 210000000078 claw Anatomy 0.000 claims description 37
- 230000000903 blocking effect Effects 0.000 claims description 12
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 241000287828 Gallus gallus Species 0.000 description 60
- 235000013330 chicken meat Nutrition 0.000 description 60
- 235000013594 poultry meat Nutrition 0.000 description 51
- 229910000831 Steel Inorganic materials 0.000 description 13
- 239000010959 steel Substances 0.000 description 13
- 230000001360 synchronised effect Effects 0.000 description 9
- 238000005096 rolling process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004804 winding Methods 0.000 description 4
- 229920000049 Carbon (fiber) Polymers 0.000 description 3
- 239000004917 carbon fiber Substances 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
- 241000271566 Aves Species 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 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
- 230000002349 favourable effect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 241000272517 Anseriformes Species 0.000 description 1
- 241000283973 Oryctolagus cuniculus Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
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- 238000011065 in-situ storage Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- A01K45/00—Other aviculture appliances, e.g. devices for determining whether a bird is about to lay
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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
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Birds (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Housing For Livestock And Birds (AREA)
Abstract
The application provides a grabbing device for livestock and poultry houses, which comprises: the device comprises a moving platform, a vertical rod, a driving mechanism, a mechanical arm mechanism, a grabbing mechanism and a door opening assembly; the vertical rod is vertically arranged on the mobile platform, and the driving mechanism is arranged on the vertical rod; one end of the mechanical arm mechanism is connected with the driving mechanism, and the other end of the mechanical arm mechanism is connected with the grabbing mechanism; the driving mechanism is used for driving the mechanical arm mechanism to move along the vertical direction, and the mechanical arm mechanism is used for driving the grabbing mechanism to move in the horizontal plane; the grabbing mechanism comprises a first grabbing arm, a second grabbing arm and a driving piece, and the driving piece can drive the first grabbing arm and the second grabbing arm to be close to each other so as to grab a target object; the door opening assembly is used for opening or closing the cage door. The grabbing device for the livestock and poultry houses has small interference to livestock and poultry and high grabbing efficiency, and is beneficial to reducing the labor intensity of operators.
Description
Technical Field
The application relates to the technical field of stacked cage livestock and poultry houses, in particular to a grabbing device for the livestock and poultry houses.
Background
Along with transformation and upgrading of modern animal husbandry, new requirements are put forward on the raising management of cage-raised livestock and poultry. In the breeding process of livestock, individual cage-raised livestock and poultry can generate diseases or death, so that the health of the cage-raised livestock and poultry needs to be inspected, unhealthy cage-raised livestock and poultry or dead cage-raised livestock and poultry are taken out from the cage, and the influence on the healthy cage-raised livestock and poultry in the cage is avoided.
In the prior art, unhealthy cage-raised livestock and poultry or dead cage-raised livestock and poultry are taken out from the cage frame through manual grabbing, and the cage-raised livestock and poultry can be harassd and stressed by large action amplitude of workers or by changing unusual work clothes, so that grabbing efficiency is low, interference on livestock and poultry is high, labor intensity of the workers is high, and meanwhile, environmental smell of a livestock and poultry house is high, so that great burden is brought to the bodies and the centers of the workers.
Disclosure of Invention
The application provides a grabbing device for a livestock and poultry house, which is used for solving the problems of high labor intensity and large interference to livestock and poultry caused by grabbing unhealthy livestock and poultry from cages of the livestock and poultry house in the conventional livestock and poultry breeding process.
The application provides a grabbing device for livestock and poultry houses, which comprises: the device comprises a moving platform, a vertical rod, a driving mechanism, a mechanical arm mechanism, a grabbing mechanism and a door opening assembly;
the vertical rod is vertically arranged on the mobile platform, and the driving mechanism is arranged on the vertical rod;
one end of the mechanical arm mechanism is connected with the driving mechanism, and the other end of the mechanical arm mechanism is connected with the grabbing mechanism; the driving mechanism is used for driving the mechanical arm mechanism to move along the vertical direction, and the mechanical arm mechanism is used for driving the grabbing mechanism to move in the horizontal plane;
the grabbing mechanism comprises a first grabbing arm, a second grabbing arm and a driving piece, and the driving piece can drive the first grabbing arm and the second grabbing arm to be close to each other so as to grab a target object;
the door opening assembly is used for opening or closing the cage door.
According to the grabbing device for the livestock and poultry houses, the mechanical arm mechanism comprises a first mechanical arm, a second mechanical arm and a third mechanical arm;
the first mechanical arm is connected with the driving mechanism, and the driving mechanism drives the first mechanical arm to move along the vertical direction;
the second mechanical arm is rotationally connected with the first mechanical arm, and one end, far away from the vertical rod, of the second mechanical arm is connected with the door opening assembly and can drive the door opening assembly to move in a horizontal plane;
the third mechanical arm is connected with the second mechanical arm, and one end, far away from the second mechanical arm, of the third mechanical arm is connected with the grabbing mechanism, so that the grabbing mechanism can be driven to move in a horizontal plane.
According to the grabbing device for the livestock and poultry houses, provided by the application, the grabbing device for the livestock and poultry houses further comprises an identification module;
the identification module is arranged at one end, close to the grabbing mechanism, of the mechanical arm mechanism and is used for identifying and positioning the target object.
According to the grabbing device for the livestock and poultry house, the first grabbing arm and the second grabbing arm are identical in structure, the first grabbing arm comprises a plurality of grabbing claws which are sequentially connected, two adjacent grabbing claws are hinged, and the driving piece can drive the grabbing claws to sequentially tighten or loosen.
According to the grabbing device for the livestock and poultry house, the grabbing mechanism further comprises two limiting claws, one of the two limiting claws is hinged with the first grabbing arm, and the other limiting claw is hinged with the second grabbing arm.
According to the grabbing device for the livestock and poultry house, the grabbing mechanism further comprises the rotating piece, the fixed end of the rotating piece is connected with the mechanical arm mechanism, and the driving end of the rotating piece is connected with the first grabbing arm and the second grabbing arm and used for driving the first grabbing arm and the second grabbing arm to rotate in a vertical plane.
According to the grabbing device for the livestock and poultry houses, the door opening assembly comprises a supporting rod, a guide wheel and a motor;
the fixed end of bracing piece with arm mechanism connects, the motor with the leading wheel is located the free end of bracing piece, the motor is used for the drive the leading wheel rotates, the leading wheel can drive the cage door slides along the cage, in order to realize opening or closing of cage door.
According to the grabbing device for the livestock and poultry houses, the door opening assembly further comprises a blocking net;
the blocking net is arranged at the free end of the supporting rod, and is positioned at the opening of the cage frame when the grabbing mechanism grabs the target object.
According to the grabbing device for the livestock and poultry houses, provided by the application, the grabbing device for the livestock and poultry houses further comprises a collecting net;
the collecting net is arranged on the mobile platform and used for placing the target object grabbed by the grabbing mechanism.
According to the grabbing device for the livestock and poultry houses, provided by the application, the grabbing device for the livestock and poultry houses further comprises a positioning sensor assembly;
the positioning sensor assembly is arranged on the mobile platform and used for detecting position information.
According to the grabbing device for the livestock and poultry houses, the movable platform moves in the passageway of the livestock and poultry houses, the driving mechanism drives the mechanical arm mechanism to move to the height position of the cage door along the vertical direction, the door opening assembly opens the cage door, the mechanical arm mechanism moves in the horizontal plane to drive the grabbing mechanism to extend into the cage, the driving piece drives the first grabbing arm and the second grabbing arm to approach each other so as to grab a target object, the interference on the livestock and poultry is small, the grabbing efficiency is high, and meanwhile, the labor intensity of operators is reduced.
Drawings
In order to more clearly illustrate the application or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a gripping device for livestock and poultry houses provided by the application;
fig. 2 is a schematic structural view of a gripping mechanism provided by the present application;
reference numerals: 1: a mobile platform; 2: a vertical rod; 3: a driving mechanism; 4: a mechanical arm mechanism; 41: a first mechanical arm; 42: a second mechanical arm rotating device; 43: a second mechanical arm; 44: a third mechanical arm; 5: a door opening assembly; 51: a support rod; 52: a motor; 53: a speed-reducing and torque-increasing device; 54: a guide wheel; 55: a blocking net; 6: an identification module; 61: a camera assembly; 62: a light source; 7: a grabbing mechanism; 71: a limit claw; 72: a fixing plate; 73: a rotating member; 74: a steel wire; 75: a spring piece; 76: a first gripper jaw; 77: a second gripper jaw; 78: a third grasping claw; 79: a fourth gripper jaw; 8: a collection net; 9: and positioning the sensor assembly.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The following describes a gripping device for a livestock and poultry house according to an embodiment of the present application with reference to fig. 1 to 2.
As shown in fig. 1, the grabbing device for a livestock and poultry house provided by the embodiment of the application includes: the device comprises a mobile platform 1, a vertical rod 2, a driving mechanism 3, a mechanical arm mechanism 4, a grabbing mechanism 7 and a door opening assembly 5; the vertical rod 2 is vertically arranged on the mobile platform 1, and the driving mechanism 3 is arranged on the vertical rod 2; one end of the mechanical arm mechanism 4 is connected with the driving mechanism 3, and the other end of the mechanical arm mechanism 4 is connected with the grabbing mechanism 7; the driving mechanism 3 is used for driving the mechanical arm mechanism 4 to move along the vertical direction, and the mechanical arm mechanism 4 is used for driving the grabbing mechanism 7 to move in the horizontal plane; the gripping mechanism 7 includes a first gripping arm, a second gripping arm, and a driving member capable of driving the first gripping arm and the second gripping arm to approach each other to grip a target object; the door opening assembly 5 is used to open or close the cage door.
The laminated cage-raised livestock and poultry house mainly refers to a livestock and poultry house for raising small animals, such as cage-raised chickens, cage-raised ducks, cage-raised rabbits and the like, and is illustrated by taking cage-raised chickens as an example, wherein the laminated cage-raised livestock and poultry house is generally formed by a plurality of layers of chicken cages which are sequentially arranged along the height direction, each layer of chicken cage consists of a plurality of chicken cages which are sequentially arranged along the length direction, and a corresponding cage door is arranged at each chicken cage. The cage door is formed by splicing two cross bars and two vertical bars, the two vertical bars are hooked with the cross bars of the cage frame, the cage door is slid along the horizontal direction, the cage door can be opened or closed, and a certain number of chickens, for example 5-10 chickens, are raised in each cage.
Specifically, the mobile platform 1 can autonomously move in the passage of the laminated cage livestock and poultry house or move under a remote control signal, for example, the mobile platform 1 can be a crawler-type mobile platform, is stable in operation, can realize in-situ steering, occupies small space, can adapt to narrow passages, can adapt to various rugged road surfaces, particularly grid-type road surfaces, and the passages of the livestock and poultry house are mostly grid-type road surfaces, so that the noise is small during running, and the livestock and poultry are prevented from being frightened due to overlarge noise.
The montant 2 is installed on moving platform 1, and the length and the width size of montant 2 set up according to actual demand, and montant 2 can adopt carbon fiber side pipe or other high strength side pipe preparation, and carbon fiber density is little, and montant 2 adopts carbon fiber side pipe preparation, can satisfy the demand of intensity of use, and light in weight is favorable to alleviateing moving platform 1's loading weight simultaneously, prevents to take place to turn on one's side in traveling or operation in-process.
The driving mechanism 3 is arranged on the vertical rod 2, the driving mechanism 3 can be a synchronous belt linear sliding table, the synchronous belt linear sliding table is arranged on the vertical rod 2, the synchronous belt moving sliding block drives the mechanical arm mechanism 4 connected with the synchronous belt moving sliding block to move along the vertical direction, and the mechanical arm mechanism 4 can move to the positions of chicken coops at different heights along the vertical direction. The synchronous belt linear sliding table has high operation precision and light weight, and is beneficial to reducing the whole gravity center of the device. The driving mechanism 3 can also be a gear rack linear sliding table or a chain transmission linear sliding table, the structure of the driving mechanism 3 is not particularly limited, and the mechanical arm mechanism 4 can be driven to reciprocate along the vertical direction.
The mechanical arm mechanism 4 can drive the grabbing mechanism 7 to rotate and translate in the horizontal plane. The grabbing mechanism 7 comprises a first grabbing arm, a second grabbing arm and a driving piece, wherein the first grabbing arm and the second grabbing arm are symmetrically arranged, the first grabbing arm and the second grabbing arm are identical in structure, the first grabbing arm and the second grabbing arm are connected with the end portion of the mechanical arm mechanism 4 through a fixing piece, the first grabbing arm and the second grabbing arm are arranged at intervals, the first grabbing arm and the second grabbing arm are hinged to the fixing piece, the driving piece can drive the first grabbing arm and the second grabbing arm to be close to or far away from each other, when the first grabbing arm and the second grabbing arm are close to each other, the inner wall surface of the first grabbing arm and the inner wall surface of the second grabbing arm enclose an accommodating space, and the accommodating space is used for enclosing cage-raised chickens.
In the following, the use process of the application is described in detail, the mobile platform 1 is moved to the position of the chicken coop to be grabbed to stop, the driving mechanism 3 drives the mechanical arm mechanism 4 to move to the height position of the chicken coop along the vertical direction, the chicken coop door is opened through the door opening assembly 5, the mechanical arm mechanism 4 moves in the horizontal plane towards the direction in the chicken coop, the mechanical arm mechanism 4 drives the grabbing mechanism 7 to extend into the chicken coop, and the target object to be grabbed is a sick chicken, a weak chicken or a dead chicken. The first grabbing arm and the second grabbing arm enclose a target object, then the driving piece drives the first grabbing arm and the second grabbing arm to be close to each other, clamping of the target object is achieved, after the target object is clamped, the mechanical arm mechanism 4 drives the grabbing mechanism 7 to move towards the outer side of the chicken coop, after the grabbing mechanism 7 moves out of the chicken coop, the door is closed through the door opening assembly 5, the driving piece drives the first grabbing arm and the second grabbing arm to be away from each other, and the target object is separated from the first grabbing arm and the second grabbing arm, so that grabbing operation of the target object is completed.
In the embodiment of the application, the mobile platform 1 moves in the passageway of the livestock and poultry house, the driving mechanism 3 drives the mechanical arm mechanism 4 to move to the height position of the cage door along the vertical direction, the door opening assembly 5 opens the cage door, the mechanical arm mechanism 4 moves in the horizontal plane to drive the grabbing mechanism 7 to extend into the cage, the driving piece drives the first grabbing arm and the second grabbing arm to approach each other so as to grab the target object, the interference on the livestock and poultry is small, the grabbing efficiency is high, and the labor intensity of operators is reduced.
As shown in fig. 1, in an alternative embodiment, the robot arm mechanism 4 includes a first robot arm 41, a second robot arm 43, and a third robot arm 44; the first mechanical arm 41 is connected with the driving mechanism 3, and the driving mechanism 3 drives the first mechanical arm 41 to move along the vertical direction; the second mechanical arm 43 is rotationally connected with the first mechanical arm 41, and one end, away from the vertical rod 2, of the second mechanical arm 43 is connected with the door opening assembly 5, so that the door opening assembly 5 can be driven to move in a horizontal plane; the third mechanical arm 44 is connected with the second mechanical arm 43, and one end, away from the second mechanical arm 43, of the third mechanical arm 44 is connected with the grabbing mechanism 7, so that the grabbing mechanism 7 can be driven to move in the horizontal plane.
Specifically, the driving mechanism 3 may be a synchronous belt linear sliding table, the synchronous belt linear sliding table is installed on the vertical rod 2, the first mechanical arm 41 is fixedly connected with a synchronous belt sliding block, and the synchronous belt sliding block can drive the first mechanical arm 41 to reciprocate along the vertical direction. The second mechanical arm 43 is rotationally connected with the first mechanical arm 41 through the second mechanical arm rotating device 42, a motor 52 is mounted on the first mechanical arm 41, the motor 52 is in power coupling connection with the second mechanical arm rotating device 42, and the motor 52 is subjected to speed reduction and torque increase through the planetary gear reduction mechanism to enable the second mechanical arm rotating device 42 to rotate, so that the second mechanical arm 43 fixed on the second mechanical arm rotating device 42 is driven to rotate around the rotation center of the second mechanical arm rotating device 42 in a horizontal plane.
One end of the second mechanical arm 43, which is far away from the vertical rod 2, is connected with the door opening assembly 5, the second mechanical arm 43 is driven by the screw rod sliding rail mechanism to translate, the door opening assembly 5 can be driven to move towards the direction of the chicken cage door, and the opening and closing of the chicken cage door are realized through the door opening assembly 5.
The third mechanical arm 44 is connected with the second mechanical arm 43, and the third mechanical arm 44 is driven by the screw rod sliding rail mechanism to realize translation. The second mechanical arm 43 drives the door opening assembly 5 to move to the chicken coop door, after the chicken coop door is opened, the third mechanical arm 44 drives the grabbing mechanism 7 to move towards the position where the target object in the chicken coop is located, the grabbing mechanism 7 is close to the target object to carry out grabbing operation, and after the target object is grabbed, the third mechanical arm 44 drives the grabbing mechanism 7 to move towards the direction away from the chicken coop, so that the target object is taken out from the chicken coop.
During grabbing operation, the driving mechanism 3 drives the first mechanical arm 41 to move to the height position of the chicken coop along the vertical direction, the second mechanical arm 43 drives the door opening assembly 5 to move to the position of the chicken coop door, the door opening assembly 5 opens the chicken coop door, and then the third mechanical arm 44 drives the grabbing mechanism 7 to enter the chicken coop and move towards the target object. The second mechanical arm 43 can drive the third mechanical arm 44, the grabbing mechanism 7 and the door opening assembly 5 to rotate for a certain angle relative to the first mechanical arm 41, so as to avoid the equipment such as the material car in the passageway. The third mechanical arm 44 can rotate a certain angle relative to the second mechanical arm 43, so that the grabbing mechanism 7 positioned at the end part of the third mechanical arm 44 can grab target objects in different areas in the chicken coops in the grabbing process.
In the embodiment of the application, the driving mechanism 3 drives the first mechanical arm 41 to move to the height position of the cage door in the vertical direction, the second mechanical arm 43 moves in the direction vertical to the cage door to drive the door opening assembly 5 to move to the cage door, the cage door is opened, the third mechanical arm 44 moves towards the chicken coop to drive the grabbing mechanism 7 to move towards the target object in the cage, and the third mechanical arm 44 enables the grabbing mechanism 7 to grab the target objects in different areas in the cage, so that the grabbing efficiency is high.
As shown in fig. 1, in an alternative embodiment, the gripping device for livestock houses further comprises an identification module 6; the recognition module 6 is arranged at one end of the mechanical arm mechanism 4 close to the grabbing mechanism 7 and is used for recognizing and positioning a target object.
Specifically, during the grabbing operation, the part of the area of the third mechanical arm 44 and the grabbing mechanism 7 are located inside the chicken coop, and the identification module 6 may be installed at one end of the third mechanical arm 44 close to the grabbing mechanism 7. The identification module 6 includes a camera component 61, where the camera component 61 includes a camera unit, the camera unit may be a multispectral camera, an RGB camera or a black-and-white camera sensitive to infrared rays, and the camera component 61 captures images of livestock and poultry in a chicken cage to identify health conditions of the livestock and poultry, identify a sick chicken, a weak chicken or a dead chicken as a target object, and the images may be multispectral images, RGB images or black-and-white images. The camera assembly 61 is connected to the controller via a network cable or other data line. The image pickup assembly 61 and the grabbing mechanism 7 are both connected with a controller, and the controller identifies a target object according to image information shot by the image pickup assembly 61 and controls the grabbing mechanism 7 to move to the target object to grab the target object.
Further, a light source 62 is further installed on the third mechanical arm 44 near the identification module 6, where the light source 62 may be a visible light sensing lamp or an infrared lamp, and when the light is darker in the livestock and poultry house, the light source 62 is turned on to provide illumination with appropriate brightness, so that the camera assembly 61 is convenient to take a picture to identify the target object.
In the embodiment of the application, the identification module 6 is arranged at one end of the mechanical arm mechanism 4 close to the grabbing mechanism 7, and when grabbing operation is performed, the identification module 6 can be used for rapidly identifying the target object, and then grabbing operation is performed through the grabbing mechanism 7, so that the efficiency and accuracy of grabbing operation are improved.
As shown in fig. 2, in an alternative embodiment, the first gripper arm and the second gripper arm have the same structure, where the first gripper arm includes a plurality of gripper claws that are sequentially connected, and two adjacent gripper claws are hinged, and the driving member can drive the plurality of gripper claws to sequentially tighten or loosen.
Specifically, the first gripper arm includes a plurality of gripper jaws, the number of which is not particularly limited, for example, four gripper jaws, which are defined as a first gripper jaw 76, a second gripper jaw 77, a third gripper jaw 78, and a fourth gripper jaw 79, respectively. The first gripper jaw 76 is connected to the third mechanical arm 44 through the fixing plate 72, the first end of the first gripper jaw 76 is hinged to the fixing plate 72, the second end of the first gripper jaw 76 is hinged to the first end of the second gripper jaw 77, the second end of the second gripper jaw 77 is hinged to the first end of the third gripper jaw 78, and the second end of the third gripper jaw 78 is hinged to the first end of the fourth gripper jaw 79, so that the fixing plate 72, the first gripper jaw 76, the second gripper jaw 77, the third gripper jaw 78 and the fourth gripper jaw 79 are sequentially connected.
The outer wall surface of the first grasping claw 76 and the side surface of the fixed plate 72 are connected by a spring piece 75, and the spring piece 75 makes the first grasping claw 76 and the fixed plate 72 form a certain angle. Similarly, the outer wall surface of the second end of the first gripper jaw 76 and the outer wall surface of the first end of the second gripper jaw 77 are connected by a spring piece, the outer wall surface of the second end of the second gripper jaw 77 and the outer wall surface of the first end of the third gripper jaw 78 are connected by a spring piece, and the outer wall surface of the second end of the third gripper jaw 78 and the outer wall surface of the first end of the fourth gripper jaw 79 are connected by a spring piece.
The driving piece includes steel wire 74, rolling motor and rolling roller, and the one end of steel wire 74 is fixed in fourth snatch claw 79, and after the steel wire 74 passed third snatch claw 78, second snatch claw 77, first snatch claw 76, fixed plate 72 in proper order, the other end of steel wire 74 twines in the rolling roller, and the rolling roller is connected with rolling motor power coupling, and rolling motor drive rolling roller rotates for steel wire 74 can tighten up and the loose state between switch.
Before entering the chicken coop, the grabbing mechanism 7 tightens the steel wires 74 under the action of the winding motor to enable the grabbing claws to shrink, so that the volume of the grabbing mechanism 7 is reduced, and the chicken coop can enter the chicken coop from a chicken coop door conveniently. The grabbing mechanism 7 enters the chicken coop, the steel wire 74 is loosened under the action of the winding motor, the plurality of grabbing claws are opened under the action of the spring piece 75, and the first grabbing arm and the second grabbing arm are in a loose state. After the target object is surrounded by the multiple grabbing claws of the first grabbing arm and the second grabbing arm, the steel wire 74 is tensioned under the action of the winding motor, at this time, the fourth grabbing claw 79 firstly overcomes the spring force of the spring piece and rotates towards the inner side, when the fourth grabbing claw 79 is blocked and stops rotating, the third grabbing claw 78 starts to overcome the spring force of the spring piece and rotates, and the like, until the first grabbing claw 76 stops rotating, at this time, the first grabbing arm and the second grabbing arm are in a closed state, the target object is held tightly, the winding motor stops moving, and the steel wire 74 stops contracting. The third arm 44 then moves away from the door of the chicken cage, bringing the gripping means 7 out of the chicken cage, thereby completing the gripping operation.
The inner wall surfaces of the first, second, third and fourth gripping claws 76, 77, 78 and 79 may be provided with a plurality of protrusions to increase friction force during gripping and to prevent the target object from escaping during gripping.
In the embodiment of the application, the first grabbing arm and the second grabbing arm respectively comprise a plurality of grabbing claws which are sequentially connected, the grabbing claws are hinged with each other, the steel wire 74 is far away from the first grabbing arm and the second grabbing arm in a loose state, the steel wire 74 is rotated towards the inner side in sequence in a tensioning state until the first grabbing arm and the second grabbing arm tightly hold a target object, the motor stops rotating, and the grabbing claws are favorable for grasping the target object more accurately.
In an alternative embodiment, as shown in fig. 2, the gripping mechanism 7 further comprises two limit jaws 71, one of the two limit jaws 71 being hinged to the first gripping arm and the other one being hinged to the second gripping arm.
Specifically, one limiting claw 71 is hinged with the inner wall surface of a first grabbing claw 76 of the first grabbing arm through a hinge shaft, and a torsion spring is sleeved on the hinge shaft; the other limit claw 71 is hinged with the inner wall surface of the first grabbing claw 76 of the second grabbing arm through a hinge shaft, and a torsion spring is sleeved on the hinge shaft. When the grabbing operation is performed, the two limiting claws 71 apply a pushing force to the cage chickens, so that the cage chickens can be better grabbed.
In an alternative embodiment, as shown in fig. 2, the gripping mechanism 7 further includes a rotating member 73, wherein a fixed end of the rotating member 73 is connected to the mechanical arm mechanism 4, and a driving end of the rotating member 73 is connected to the first gripping arm and the second gripping arm, so as to drive the first gripping arm and the second gripping arm to rotate in a vertical plane.
Specifically, a rotating member 73 is installed on one side of the fixed plate 72, which faces away from the first grabbing arm and the second grabbing arm, the fixed end of the rotating member 73 is connected with the end portion of the third mechanical arm 44, the driving end of the rotating member 73 is connected with the fixed plate 72, the rotating member 73 can drive the fixed plate 72 to rotate in a vertical plane, and the first grabbing arm and the second grabbing arm are further driven to rotate so as to adjust the direction of the opening between the first grabbing arm and the second grabbing arm. The chicken in the chicken coop has multiple postures, for example, the body faces away from the chicken cage door, or the body faces towards the chicken cage door, or the body faces obliquely to the chicken cage door, and the like, and the rotating piece 73 drives the first grabbing arm and the second grabbing arm to rotate, so that the openings of the first grabbing arm and the second grabbing arm can face the target object, and the convenience of grabbing the target object is improved.
In the embodiment of the application, the first grabbing arm and the second grabbing arm are connected with the third mechanical arm 44 through the rotating member 73, and when the grabbing mechanism 7 approaches to the target object, the rotating member 73 drives the first grabbing arm and the second grabbing arm to rotate in the vertical plane, so that an opening between the first grabbing arm and the second grabbing arm is adapted to the gesture of the target object, and the convenience of grabbing the target object is improved.
As shown in fig. 1, in an alternative embodiment, the door opening assembly 5 includes a support bar 51, a guide wheel 54, and a motor 52; the fixed end of bracing piece 51 is connected with mechanical arm mechanism 4, and motor 52 and leading wheel 54 locate the free end of bracing piece 51, and motor 52 is used for driving leading wheel 54 rotation, and leading wheel 54 can drive the cage door and slide along the cage to realize opening or closing of cage door.
Specifically, one end of the supporting rod 51 is connected with the end of the second mechanical arm 43, and the other end of the supporting rod 51 is provided with a motor 52, a speed-reducing and torque-increasing device 53 and a guide wheel 54, wherein the torsion force generated by the motor 52 is transmitted to the guide wheel 54 through the speed-reducing and torque-increasing device 53 to drive the guide wheel 54 to rotate. The guide wheel 54 is made of a material having a high friction coefficient. The guide wheels 54 may be provided with grooves in the circumferential direction that are compatible with the cross bars of the cage door.
To the beasts and birds house of raising chickens, the cage door of every chicken coop is equipped with many crossbars, opens or close the cage door through sliding the crossbar. The two sides of the cage door are defined as a first side of the cage door and a second side of the cage door, respectively.
The door opening assembly 5 is driven by the second mechanical arm 43 to approach the cross rod at the cage door, along with the continuous movement of the second mechanical arm 43 towards the cage door, the groove wall of the groove of the guide wheel 54 is finally abutted against the cross rod of the cage door, at this time, the motor 52 rotates to drive the guide wheel 54 to rotate, and the friction between the guide wheel 54 and the cross rod enables the cage door to slide from the first side to the second side, so that the cage door is in an open state. The motor 52 rotates in the opposite direction, which causes the guide wheel 54 to rotate in the opposite direction, and friction between the guide wheel 54 and the cross bar causes the door to slide from the second side to the first side, thereby causing the door to be in a closed position.
The number of the guide wheels 54 is not particularly limited, for example, the number of the guide wheels 54 is two, the two guide wheels 54 are arranged at intervals along the height direction, the distance between the two guide wheels 54 is adapted to the two cross bars of the cage door arranged along the height direction, and the two guide wheels 54 can synchronously rotate to increase the friction force with the cross bars of the cage door, so that the cage door can be opened and closed quickly.
For example, the number of the guide wheels 54 is four, the four guide wheels 54 are symmetrically arranged, the supporting rod 51 is arc-shaped, the fixed end of the supporting rod 51 is connected with the end part of the second mechanical arm 43, and two guide wheels 54 are respectively arranged at two free ends of the supporting rod 51. The two free ends of the support rod 51 are defined as a first end and a second end, respectively, the cage door can be opened through the two guide wheels 54 of the first end, the cage door can be opened through the two guide wheels 54 of the second end, and the cage door can be selectively opened through the two guide wheels 54 of the first end or the two guide wheels 54 of the second end according to the position of the target object. A buffer member, such as a spring pad, may be disposed between the end of the support rod 51 and the guide wheel 54 to provide a buffering effect.
In the embodiment of the application, the second mechanical arm 43 drives the door opening assembly 5 to move to the cage door, the guide wheel 54 is tightly attached to the cross rod of the cage door, and the motor 52 rotates to drive the guide wheel 54 to rotate clockwise or anticlockwise, so that the cage door slides along the cross rod on the cage frame, the opening or closing of the cage door is realized, and the structure is simple and the operation is convenient.
In an alternative embodiment, as shown in fig. 1, the door opening assembly 5 further comprises a barrier net 55; the blocking net 55 is provided at the free end of the support rod 51, and the blocking net 55 is positioned at the opening of the cage when the gripping mechanism 7 grips the target object.
Specifically, the blocking net 55 is mounted at the free end of the supporting rod 51, the blocking net 55 is located at the rear of the guide wheel 54, the length and the width of the blocking net 55 are set according to actual requirements, and the blocking net 55 can be formed by splicing a plurality of transverse and vertical crossed steel wires. When the third mechanical arm 44 drives the grabbing mechanism 7 to move into the chicken coop, the blocking net 55 is tightly attached to the opening of the cage frame, so that the chicken in the chicken coop can be prevented from running out of the chicken coop in the process of opening the chicken coop door or grabbing operation.
In an alternative embodiment, as shown in fig. 1, the gripping device for the livestock and poultry houses further comprises a collecting net 8; the collecting net 8 is arranged on the mobile platform 1 and is used for placing the target object grabbed by the grabbing mechanism 7.
Specifically, the collecting net 8 is installed above the moving platform 1, the collecting net 8 is in a cylindrical shape, the collecting net 8 can be made into a cylindrical shape by adopting a soft net such as a hexagonal net, after the grabbing mechanism 7 takes out the target object from the cage, the driving mechanism 3 drives the first mechanical arm 41 to move downwards along the vertical direction, the grabbing mechanism 7 is close to the collecting net 8, and at the moment, the driving member drives the first grabbing arm and the second grabbing arm to be far away from each other, so that the target object can be placed in the collecting net 8. Then the next grabbing operation is carried out without participation of operators, thereby being beneficial to reducing the labor intensity of the operators.
In an alternative embodiment, as shown in fig. 1, the gripping device for the livestock and poultry houses further comprises a positioning sensor assembly 9; the positioning sensor assembly 9 is disposed on the mobile platform 1 and is used for detecting position information.
Specifically, the positioning sensor assembly 9 is installed above the mobile platform 1, and can detect position information to guide the mobile platform 1 to move along a path, and the positioning sensor assembly 9 can use a laser radar for positioning. The positioning sensor assembly 9 and the mobile platform 1 are both connected with a controller, and the controller receives the position information acquired by the positioning sensor assembly 9 and controls the mobile platform 1 to move. For example, a magnetic stripe is stuck on the ground corresponding to each chicken coop in the passageway of the livestock and poultry house, the positioning sensor assembly 9 acquires magnetic stripe information, and the controller navigates the mobile platform 1 according to the magnetic stripe information to guide the mobile platform 1 to move or stop.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (9)
1. The utility model provides a grabbing device for beasts and birds house which characterized in that includes: the device comprises a moving platform, a vertical rod, a driving mechanism, a mechanical arm mechanism, a grabbing mechanism and a door opening assembly;
the vertical rod is vertically arranged on the mobile platform, and the driving mechanism is arranged on the vertical rod;
one end of the mechanical arm mechanism is connected with the driving mechanism, and the other end of the mechanical arm mechanism is connected with the grabbing mechanism; the driving mechanism is used for driving the mechanical arm mechanism to move along the vertical direction, and the mechanical arm mechanism is used for driving the grabbing mechanism to move in the horizontal plane;
the grabbing mechanism comprises a first grabbing arm, a second grabbing arm and a driving piece, and the driving piece can drive the first grabbing arm and the second grabbing arm to be close to each other so as to grab a target object;
the door opening assembly is used for opening or closing the cage door;
the door opening assembly comprises a supporting rod, a guide wheel and a motor;
the fixed end of bracing piece with arm mechanism connects, the motor with the leading wheel is located the free end of bracing piece, the motor is used for the drive the leading wheel rotates, the leading wheel can drive the cage door slides along the cage, in order to realize opening or closing of cage door.
2. The grasping device for a livestock and poultry house according to claim 1, wherein the mechanical arm mechanism includes a first mechanical arm, a second mechanical arm, and a third mechanical arm;
the first mechanical arm is connected with the driving mechanism, and the driving mechanism drives the first mechanical arm to move along the vertical direction;
the second mechanical arm is rotationally connected with the first mechanical arm, and one end, far away from the vertical rod, of the second mechanical arm is connected with the door opening assembly and can drive the door opening assembly to move in a horizontal plane;
the third mechanical arm is connected with the second mechanical arm, and one end, far away from the second mechanical arm, of the third mechanical arm is connected with the grabbing mechanism, so that the grabbing mechanism can be driven to move in a horizontal plane.
3. The livestock and poultry housing gripping apparatus of claim 1, wherein the livestock and poultry housing gripping apparatus further comprises an identification module;
the identification module is arranged at one end, close to the grabbing mechanism, of the mechanical arm mechanism and is used for identifying and positioning the target object.
4. The grasping device for a livestock and poultry house according to claim 1, wherein the first grasping arm and the second grasping arm are identical in structure, the first grasping arm comprises a plurality of grasping claws connected in sequence, two adjacent grasping claws are hinged, and the driving member can drive the plurality of grasping claws to tighten or loosen in sequence.
5. The grasping device for a livestock and poultry house according to claim 4, wherein the grasping mechanism further includes two limiting claws, one of which is hinged to the first grasping arm, and the other of which is hinged to the second grasping arm.
6. The grasping device for a livestock and poultry house according to claim 4, wherein the grasping mechanism further comprises a rotating member, a fixed end of the rotating member is connected with the mechanical arm mechanism, and a driving end of the rotating member is connected with the first grasping arm and the second grasping arm for driving the first grasping arm and the second grasping arm to rotate in a vertical plane.
7. The grasping device for a livestock and poultry house according to claim 1, wherein the door opening assembly further comprises a blocking net;
the blocking net is arranged at the free end of the supporting rod, and is positioned at the opening of the cage frame when the grabbing mechanism grabs the target object.
8. The grasping device for a livestock and poultry house according to claim 1, wherein the grasping device for a livestock and poultry house further comprises a collecting net;
the collecting net is arranged on the mobile platform and used for placing the target object grabbed by the grabbing mechanism.
9. The grasping device for a livestock and poultry house according to any one of claims 1 to 8, wherein the grasping device for a livestock and poultry house further comprises a positioning sensor assembly;
the positioning sensor assembly is arranged on the mobile platform and used for detecting position information.
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| CN202210332026.0A CN114800548B (en) | 2022-03-30 | 2022-03-30 | Grabbing device is used to beasts and birds house |
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