CN216512505U - Pig transport machinery dies of illness based on parallel mechanism - Google Patents
Pig transport machinery dies of illness based on parallel mechanism Download PDFInfo
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- CN216512505U CN216512505U CN202123161600.0U CN202123161600U CN216512505U CN 216512505 U CN216512505 U CN 216512505U CN 202123161600 U CN202123161600 U CN 202123161600U CN 216512505 U CN216512505 U CN 216512505U
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- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000001179 sorption measurement Methods 0.000 claims 1
- 241000282887 Suidae Species 0.000 abstract description 30
- 241000282898 Sus scrofa Species 0.000 abstract description 28
- 206010011409 Cross infection Diseases 0.000 abstract description 5
- 206010029803 Nosocomial infection Diseases 0.000 abstract description 5
- 208000015181 infectious disease Diseases 0.000 abstract description 4
- 210000000078 claw Anatomy 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 241000700605 Viruses Species 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003108 foot joint Anatomy 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of pig raising instruments, and discloses a sick and dead pig carrying machine based on a parallel mechanism, which solves the problems of infection caused by contact between the dragging and the human of the existing sick and dead pigs and cross infection between the pigs, and comprises a frame, wherein a movable wheel mechanism is arranged at the lower end of the frame, a cross beam is symmetrically connected at the upper end of the frame, the parallel mechanism is connected at one side of the lower end of the cross beam, a lantern ring mechanism is connected at the lower end of the parallel mechanism, a lifting mechanism is connected at the lower end of the cross beam and positioned at one side of the parallel mechanism, and binocular vision cameras are arranged at two sides of the frame. Has certain reference significance for future pig farm automation.
Description
Technical Field
The utility model belongs to the technical field of pig raising instruments, and particularly relates to a diseased and dead pig carrying machine based on a parallel mechanism.
Background
The piggeries are dense in large-scale pig farms, each piggery is shared by a plurality of pigs, the movement space of the pigs is narrow, the pigs are easy to get ill or die due to other irresistible factors, and cross infection is easy to cause.
At present, pigs died of illness are treated by people, the pigs are still deeply buried in the traditional carrying process, but great risks still exist when the pigs died of illness are hauled, the main consideration is the contact between people and the pigs died of illness, and the damage problem of the pigs died of illness in the carrying process is probably caused, the infection problem between the pigs and between people and the pigs is probably caused, most breeding personnel are penetrated into the lower jaw of the pigs through hooks for dragging, the damage to the surfaces of the pigs is caused, blood of the pigs died of illness can remain on the ground, the pigs are good, the pigs can be arched by using the nose, and the cross infection of viruses is caused.
SUMMERY OF THE UTILITY MODEL
Aiming at the situation, in order to overcome the defects of the prior art, the utility model provides a diseased and dead pig carrying machine based on a parallel mechanism, which effectively solves the problems of infection caused by the fact that the diseased and dead pigs are carried by people in a hauling way and cross infection between the pigs at present.
In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a pig transport machinery dies of illness based on parallel mechanism, includes the frame, moving wheel mechanism is installed to the frame lower extreme, and frame upper end symmetric connection has the crossbeam, and crossbeam lower extreme one side is connected with parallel mechanism, and the parallel mechanism lower extreme is connected with lantern ring mechanism, and the crossbeam lower extreme just is located parallel mechanism one side and is connected with hoist mechanism, and binocular vision camera is all installed to the frame both sides.
Preferably, the moving wheel mechanism comprises two universal wheels arranged on one side of the lower end of the frame, one side, away from the universal wheels, of the lower end of the frame is connected with a roller frame, the roller frame is internally connected with a roller through a rotating shaft, one end of the rotating shaft extends to the outside of the roller frame and is connected with a large belt wheel, one end of the frame is provided with a motor fixing plate, one end of the motor fixing plate is connected with a walking motor, the output end of the walking motor is connected with a small belt wheel, and the small belt wheel is connected with the large belt wheel through belt transmission.
Preferably, the parallel mechanism comprises a static platform installed at the lower end of the cross beam, the lower end of the static platform is circumferentially connected with three positioning plates at equal angles, the three positioning plates are provided with parallel motors, the output ends of the parallel motors are connected with driving arms, the lower ends of the driving arms are sleeved with fixing sleeves, one ends of the fixing sleeves are rotatably connected with driven arms through spherical hinges, and one ends of the driven arms are rotatably connected with a movable platform through the spherical hinges.
Preferably, the lantern ring mechanism includes the installing frame, and installing frame one end inlays and is equipped with electric putter, and the installing frame other end inlays and is equipped with the U template, and the electric putter output runs through and extends to inside the U template, and the spout has been seted up to U template both ends symmetry.
Preferably, the U-shaped plate is inside and to be located the electric putter output and be connected with the connecting cylinder, and connecting cylinder one end is connected with U type seat, and U type seat internal connection has the pin rod, and the pin rod both ends are located the inside swing joint of spout of both sides respectively, and the connecting rod has been cup jointed to the inside pin rod outer end that just is located of U type seat, and the connecting rod is two, and two connecting rod one ends are all rotated and are connected with the gripper, and the gripper rotates with the U-shaped plate to be connected, and two gripper one ends all are connected with the electro-magnet.
Preferably, electromagnet one end adsorbs and is connected with the fixing base, and fixing base one end is connected with the lantern ring, and lantern ring trailing end is connected with annular buckle.
Preferably, the lifting mechanism comprises a mounting shell mounted at the lower end of the cross beam, a lifting motor is mounted at the lower end of the mounting shell, the output end of the lifting motor is connected with a winch, a steel wire rope is wound at the outer end of the winch, and the lower end of the steel wire rope is connected with a sleeve hook.
Preferably, the outer end of the steel wire rope is sleeved with a rubber sleeve.
Compared with the prior art, the utility model has the beneficial effects that:
(1) the utility model avoids direct contact between people and pigs, effectively isolates external infection sources, does not damage the parts of the pigs in the process of grabbing the pigs, only grabs the rear feet of the pigs, is beneficial to the subsequent hauling process, reduces the labor cost, avoids cross infection to a great extent, realizes mechanical operation on the treatment of pigs died of diseases, and has certain reference significance on the automation of future pig farms;
(2) this novel frame overall structure is stable, can advance under the pig house environment of complicacy, and adopts parallel mechanism, has three degree of freedom, and operating sensitivity is high, and rigidity is strong, can manipulate control well.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model.
In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the moving wheel mechanism of the present invention;
FIG. 3 is a schematic structural diagram of a motor fixing plate according to the present invention;
FIG. 4 is a schematic structural diagram of a parallel mechanism of the present invention;
FIG. 5 is a schematic structural view of the collar mechanism of the present invention;
FIG. 6 is an exploded view of the collar mechanism of the present invention;
FIG. 7 is a schematic view of the lifting mechanism of the present invention;
in the figure: 1. a frame; 2. a moving wheel mechanism; 201. a universal wheel; 202. a roller frame; 203. a rotating shaft; 204. a roller; 205. a large belt pulley; 206. a motor fixing plate; 207. a traveling motor; 208. a small belt pulley; 209. a belt; 3. a cross beam; 4. a parallel mechanism; 401. a static platform; 402. positioning a plate; 403. parallel connection of motors; 404. an active arm; 405. fixing a sleeve; 406. a driven arm; 407. a movable platform; 5. a collar mechanism; 501. installing a frame; 502. an electric push rod; 503. a U-shaped plate; 504. a chute; 505. a connecting cylinder; 506. a U-shaped seat; 507. a pin rod; 508. a connecting rod; 509. a gripper; 510. an electromagnet; 511. a fixed seat; 512. a collar; 513. an annular buckle; 6. a lifting mechanism; 601. mounting a shell; 602. a hoisting motor; 603. a winch; 604. a wire rope; 605. sleeving a hook; 7. binocular vision camera.
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 only a part of the embodiments of the present invention, and not all of the embodiments; 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.
In the first embodiment, as shown in fig. 1-7, the binocular vision camera system comprises a frame 1, a moving wheel mechanism 2 is installed at the lower end of the frame 1, a cross beam 3 is symmetrically connected to the upper end of the frame 1, a parallel mechanism 4 is connected to one side of the lower end of the cross beam 3, a lantern ring mechanism 5 is connected to the lower end of the parallel mechanism 4, a lifting mechanism 6 is connected to the lower end of the cross beam 3 and one side of the parallel mechanism 4, and binocular vision cameras 7 are installed on two sides of the frame 1;
remove wheel mechanism 2 and be used for walking frame 1 drive, parallel mechanism 4 is used for moving lantern ring mechanism 5 to a spatial position for lantern ring 512 on the lantern ring mechanism 5 can telescope the suitable position of pig foot, and hoist mechanism 6 is used for upwards mentioning the sick dead pig after cup jointing, then removes to the assigned position under the effect of removing wheel mechanism 2, and binocular vision camera 7 is used for detecting the pig foot position of dying of illness, makes things convenient for lantern ring 512 to cup joint.
In the second embodiment, on the basis of the first embodiment, the moving wheel mechanism 2 includes two universal wheels 201 installed on one side of the lower end of the frame 1, which is far away from the universal wheels 201, is connected with a roller frame 202, the inside of the roller frame 202 is connected with a roller 204 through a rotating shaft 203, one end of the rotating shaft 203 extends to the outside of the roller frame 202 and is connected with a large belt wheel 205, one end of the frame 1 is installed with a motor fixing plate 206, one end of the motor fixing plate 206 is connected with a walking motor 207, the output end of the walking motor 207 is connected with a small belt wheel 208, and the small belt wheel 208 is in transmission connection with the large belt wheel 205 through a belt 209;
the small belt pulley 208 is driven to rotate by the walking motor 207, and under the transmission of the belt 209, the large belt pulley 205 is driven to rotate, and then the rotating shaft 203 drives the roller 204 to rotate, so that the frame 1 moves.
In the third embodiment, on the basis of the first embodiment, the parallel mechanism 4 includes a stationary platform 401 installed at the lower end of the beam 3, the lower end of the stationary platform 401 is connected with three positioning plates 402 at equal angles in the circumferential direction, the three positioning plates 402 are provided with parallel motors 403 at one ends, the output ends of the parallel motors 403 are connected with driving arms 404, the lower ends of the driving arms 404 are sleeved with fixing sleeves 405, one ends of the fixing sleeves 405 are rotatably connected with driven arms 406 through spherical hinges, and one ends of the driven arms 406 are rotatably connected with movable platforms 407 through spherical hinges.
Fourth embodiment, on the basis of the first embodiment, the lantern ring mechanism 5 includes an installation frame 501, an electric push rod 502 is embedded at one end of the installation frame 501, a U-shaped plate 503 is embedded at the other end of the installation frame 501, an output end of the electric push rod 502 extends into the U-shaped plate 503, sliding grooves 504 are symmetrically formed at two ends of the U-shaped plate 503, a connecting cylinder 505 is connected inside the U-shaped plate 503 and located at an output end of the electric push rod 502, a U-shaped seat 506 is connected to one end of the connecting cylinder 505, a pin 507 is connected inside the U-shaped seat 506, two ends of the pin 507 are respectively movably connected inside the sliding grooves 504 located at two sides, connecting rods 508 are sleeved inside the U-shaped seat 506 and located at an outer end of the pin 507, the connecting rods 508 are two, one ends of the two connecting rods 508 are both rotatably connected with a mechanical claw 509, the mechanical claw 509 is rotatably connected with the U-shaped plate 503, one ends of the two mechanical claws 509 are both connected with an electromagnet 510, one end of the electromagnet 510 is connected with a fixed seat 511 in an adsorbing manner, one end of the fixed seat 511 is connected with a lantern ring 512, and the tail end of the lantern ring 512 is connected with an annular buckle 513;
the push rod part of the electric push rod 502 is connected with a connecting cylinder 505 of a mechanical claw 509 through a bolt, the other end of the connecting cylinder 505 is fixed with two connecting rods 508 of the mechanical claw 509 through a pin rod 507, the pin rod 507 can only move back and forth along a sliding groove 504 in a U-shaped plate 503 to control the distance between the two mechanical claws 509, the position of two pig feet can be accurately positioned by a lantern ring 512, the rear foot joints of pigs are sleeved, an annular buckle 513 at the rear end of the lantern ring 512 is connected with a sleeve hook 605 on a lifting mechanism 6, at the moment, a lifting motor 602 in the lifting mechanism 6 is opened to drive a winch 603 to rotate, a steel wire rope 604 is tightened to drive the annular buckle 513 to tighten, the pigs which are dead are slowly hoisted, and then the pigs which are dead are transported to a designated position.
Fifth embodiment, on the basis of the first embodiment, the lifting mechanism 6 includes a mounting shell 601 mounted at the lower end of the beam 3, a lifting motor 602 is mounted at the lower end of the mounting shell 601, an output end of the lifting motor 602 is connected with a winch 603, a steel wire rope 604 is wound at the outer end of the winch 603, a sleeve hook 605 is connected at the lower end of the steel wire rope 604, and a rubber sleeve is sleeved at the outer end of the steel wire rope 604;
the winch 603 is driven to rotate by the lifting motor 602, the steel wire rope 604 is tightened to drive the annular buckle 513 to be tightened, the pig which dies from illness is slowly hoisted, and the rubber sleeve at the outer end of the steel wire rope 604 can tightly rope the pig feet of the pig which dies from illness without damaging the skin of the pig.
The working principle is as follows: when the pig rear foot detection device is used, the small belt wheel 208 is driven to rotate through the rotation of the walking motor 207, the large belt wheel 205 is driven to rotate under the transmission of the belt 209, the rotating shaft 203 drives the rolling wheel 204 to rotate, the universal wheel 201 on one side is matched, the whole frame 1 is driven to move to a pig part to be carried, the whole frame 1 is kept stable, the characteristics of the pig rear foot of the pig to be carried are identified through the binocular vision camera 7, preferably, the novel pig rear foot detection device further comprises a vision control system, the vision control system comprises a data processing module, a single chip microcomputer and a controller, the binocular vision camera 7 transmits obtained image data to the data processing module, the data processing module obtains the spatial position coordinates of the pig foot and the position sizes of the two pig feet through calculation, the single chip microcomputer 502 in the lantern ring mechanism 5 is informed to stretch and retract, the mechanical claw 509 is enabled to be opened to be of a proper size, and the data processing module passes through the spatial position of the pig foot, and the coordinate of the current gripper 509 is subjected to matrix transformation to obtain a motion path of the gripper 509, then data is sent to a single chip microcomputer, the single chip microcomputer gives an instruction to a controller to control the rotation of three parallel motors 403 in the parallel mechanism 4, the parallel motors 403 drive the driving arm 404 and the driven arm 406 to move the movable platform 407 to a spatial position, the lantern ring 512 is sleeved in a proper position of the pig feet, the electromagnetic valve switch is controlled to be closed, then the parallel mechanism 4 is retracted to a starting position, the annular buckle 513 at the tail end of the lantern ring 512 is connected with the sleeve hook 605, at the moment, the lifting mechanism 6 switch is opened, so that the lifting motor 602 drives the winch 603 to rotate to tighten up the steel wire rope 604, the lantern ring 512 is slowly locked, the sick and dead pigs are slowly lifted up to a proper position along with the operation of the lifting mechanism 6, the catching of the sick and dead pigs is closed, the moving wheel mechanism 2 is opened to drive the frame 1 to move, and the pigs died of illness are conveyed to the appointed position.
Claims (8)
1. The utility model provides a pig transport machinery of dying of illness based on parallel mechanism, includes frame (1), its characterized in that: moving wheel mechanism (2) are installed to frame (1) lower extreme, and frame (1) upper end symmetric connection has crossbeam (3), and crossbeam (3) lower extreme one side is connected with parallel mechanism (4), and parallel mechanism (4) lower extreme is connected with lantern ring mechanism (5), and crossbeam (3) lower extreme just is located parallel mechanism (4) one side and is connected with hoist mechanism (6), and binocular vision camera (7) are all installed to frame (1) both sides.
2. The pig handling machine dead of illness based on parallel mechanism of claim 1, characterized by: remove wheel mechanism (2) including installing two universal wheel (201) in frame (1) lower extreme one side, frame (1) lower extreme is kept away from universal wheel (201) one side and is connected with gyro wheel frame (202), gyro wheel frame (202) are inside to be connected with gyro wheel (204) through pivot (203), pivot (203) one end extends to gyro wheel frame (202) external connection has big band pulley (205), motor fixed plate (206) are installed to frame (1) one end, motor fixed plate (206) one end is connected with walking motor (207), walking motor (207) output is connected with minipulley (208), be connected through belt (209) transmission between minipulley (208) and the big band pulley (205).
3. The pig handling machine dead of illness based on parallel mechanism of claim 1, characterized by: parallel mechanism (4) are including installing in quiet platform (401) of crossbeam (3) lower extreme, quiet platform (401) lower extreme circumference is connected with locating plate (402) such as the angle, locating plate (402) are three, parallel motor (403) are all installed to three locating plate (402) one end, parallel motor (403) output is connected with driving arm (404), fixed cover (405) has been cup jointed to driving arm (404) lower extreme, fixed cover (405) one end is rotated through the ball pivot and is connected with driven arm (406), driven arm (406) one end is rotated through the ball pivot and is connected with and moves platform (407).
4. The pig handling machine dead of illness based on parallel mechanism of claim 1, characterized by: the lantern ring mechanism (5) comprises an installation frame (501), an electric push rod (502) is embedded in one end of the installation frame (501), a U-shaped plate (503) is embedded in the other end of the installation frame (501), the output end of the electric push rod (502) penetrates through the U-shaped plate (503) and extends to the inside of the U-shaped plate, and sliding grooves (504) are symmetrically formed in two ends of the U-shaped plate (503).
5. The pig handling machine dead of illness based on parallel mechanism of claim 4, characterized by: u type board (503) inside and be located electric putter (502) output and be connected with connecting cylinder (505), connecting cylinder (505) one end is connected with U type seat (506), U type seat (506) internal connection has pin pole (507), the inside swing joint of spout (504) that pin pole (507) both ends are located both sides respectively, connecting rod (508) have been cup jointed to inside and being located pin pole (507) outer end of U type seat (506), connecting rod (508) are two, two connecting rod (508) one end all rotate and are connected with gripper (509), gripper (509) rotate with U type board (503) and are connected, two gripper (509) one end all is connected with electro-magnet (510).
6. The pig handling machine dead of illness based on parallel mechanism of claim 5, characterized by: one end of the electromagnet (510) is connected with a fixed seat (511) in an adsorption mode, one end of the fixed seat (511) is connected with a lantern ring (512), and the tail end of the lantern ring (512) is connected with an annular buckle (513).
7. The pig handling machine dead of illness based on parallel mechanism of claim 1, characterized by: the lifting mechanism (6) comprises a mounting shell (601) mounted at the lower end of the cross beam (3), a lifting motor (602) is mounted at the lower end of the mounting shell (601), the output end of the lifting motor (602) is connected with a winch (603), a steel wire rope (604) is wound at the outer end of the winch (603), and the lower end of the steel wire rope (604) is connected with a sleeve hook (605).
8. The pig handling machine dead of illness based on parallel mechanism of claim 7, characterized by: the outer end of the steel wire rope (604) is sleeved with a rubber sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123161600.0U CN216512505U (en) | 2021-12-15 | 2021-12-15 | Pig transport machinery dies of illness based on parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123161600.0U CN216512505U (en) | 2021-12-15 | 2021-12-15 | Pig transport machinery dies of illness based on parallel mechanism |
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| Publication Number | Publication Date |
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| CN216512505U true CN216512505U (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202123161600.0U Expired - Fee Related CN216512505U (en) | 2021-12-15 | 2021-12-15 | Pig transport machinery dies of illness based on parallel mechanism |
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| CN (1) | CN216512505U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114195020A (en) * | 2021-12-15 | 2022-03-18 | 江西农业大学 | Pig transport machinery dies of illness based on parallel mechanism |
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2021
- 2021-12-15 CN CN202123161600.0U patent/CN216512505U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114195020A (en) * | 2021-12-15 | 2022-03-18 | 江西农业大学 | Pig transport machinery dies of illness based on parallel mechanism |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: He Xiuwen Inventor after: Huang Wei Inventor after: Liu Renxin Inventor after: Peng Xingpeng Inventor after: Wang Jinxian Inventor after: Yuan Zichun Inventor before: He Xiuwen Inventor before: Wan Shizhu Inventor before: Li Xiaozhen Inventor before: Liu Renxin Inventor before: Ye Yuejun Inventor before: Liu Shizhong |
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| CB03 | Change of inventor or designer information | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220513 |