CN220104150U - Pig house track robot - Google Patents

Abstract

The utility model discloses a pig house track robot in the technical field of live pig breeding, which comprises an upper shell, a main box, a second infrared sensor, a first infrared sensor, a charging port, a starting switch, a scram switch, a second signal indicator lamp, a first signal indicator lamp, a lifting mechanism, an omnibearing camera and an integrated sensor, wherein a circuit is formed by a main control board in a main control board grid position, the second infrared sensor, the first infrared sensor, the starting switch, the second signal indicator lamp, the first signal indicator lamp, the moving mechanism and the lifting mechanism, and the moving mechanism moves by means of a single track, so that the complexity of the moving mechanism is reduced and the waste of materials is reduced; the movement height of the lifting mechanism can be adjusted at will by controlling the rotation times of the take-up pulley, so that the device has extremely strong adaptability; the device has the characteristics of good motion stability, compact structure, corrosion resistance, simple structure, good sealing performance and low production cost, and is suitable for being used in a complex pigsty environment.

Description

Pig house track robot

Technical Field

The utility model relates to the technical field of pig breeding, in particular to a pig house track robot.

Background

The pig industry is an important industry in agricultural production in China, and plays an important role in guaranteeing the safety supply of meat foods. At present, the pig industry in China is experiencing a great transition from the traditional pig industry to the modern pig industry. In order to know the environmental conditions in the farm, the internal conditions of the farm and the growth conditions of pigs are monitored in real time by installing various sensors. For example, the temperature sensor can be used for collecting the environmental temperature in the house, the humidity sensor can be used for collecting the environmental humidity in the house, the infrared sensor is used for collecting the infrared image of the pig so as to identify the body temperature condition of the pig, the sound sensor is used for collecting the sound emitted by the pig so as to identify the disease condition of the pig, and the camera is used for collecting the image of the pig so as to facilitate background monitoring. At present, the monitoring mode of pig house environment is divided into traditional fixed environment monitoring and novel mobile robot environment monitoring: in order to realize the monitoring of each column in a farm, a plurality of sensors are needed in a traditional fixed monitoring mode, and the cultivation cost is easy to be too high. Based on cost consideration, it is decided to adopt the mobile inspection robot to inspect the farm, and various sensors are integrated on the inspection robot, so that the number of the sensors fixedly installed in the farm can be reduced, and the cost is reduced. The inspection robot may take the form of a rail or a trackless form: the inspection robot in a rail form needs to lay a track special for robot walking in a farm, can only walk on the track, and inspects the conditions in the range according to the track laying range; the inspection robot in the form of a trackless robot does not need a track, and can move in a wider range. Accordingly, the inspection robot in the trackless form not only needs to support related algorithms such as positioning and path planning, but also has more complex travelling mechanism, so that the inspection robot in the trackless form needs to be designed. Based on the above, the utility model designs a pig house track robot to solve the problems.

Disclosure of Invention

The utility model aims to provide a pig house track robot which aims to solve the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a pig house track robot, includes the inside last casing that sets up moving mechanism, be provided with the T type track that runs through the casing on the moving mechanism, the bottom of going up the casing is fixed with the main tank body, second infrared sensor and first infrared sensor are installed respectively to the both sides top of main tank body, the charging mouth is installed to the right side below of main tank body, start switch and scram switch are installed respectively from top to bottom in the front surface left side of main tank body, second signal indicator and first signal indicator are installed to the horizontal interval in front surface right side top of main tank body, elevating system and all-round camera are installed respectively to elevating system's bottom, integrated sensor is installed to elevating system's bottom, be provided with second infrared sensor check and elevating system check respectively around the inner chamber left side of main tank body, be provided with master control panel check position and battery check position around the inner chamber right side of main tank body, be provided with first infrared sensor and scram switch respectively around the inner chamber right side of main tank body, first infrared sensor and all-round switch and first signal indicator constitute through master control panel, elevator, sensor and charge circuit, first sensor and charge circuit check position, the inside the first signal indicator constitutes with the first switch.

Preferably, the moving mechanism comprises a T-shaped fixing frame, a fixed baffle is fixed on the front and rear sides of the top of the T-shaped fixing frame, angle irons are fixed on the two sides of the T-shaped fixing frame, limiting wheels are rotatably arranged on the front and rear sides of the upper surface of the angle irons, a first left driven wheel and a second left driven wheel are rotatably arranged on the left and right sides of the inner wall of the fixed baffle respectively, a first stepping motor is rotatably arranged on the middle part of the inner wall of the fixed baffle, a first right driven wheel and a second right driven wheel are rotatably arranged on the left and right sides of the inner wall of the fixed baffle respectively, a second stepping motor is rotatably arranged on the middle part of the inner wall of the fixed baffle on the rear side, and a rotating shaft of the second left driven wheel is connected with a motor shaft of the first stepping motor and a rotating shaft of the second right driven wheel is connected with a motor shaft of the second stepping motor through a synchronous belt transmission mechanism.

Preferably, the lifting mechanism comprises an upper mounting plate and a lower mounting plate, a second pulley is fixed at the top of the lower mounting plate, a third stepping motor is mounted at the top of the upper mounting plate, a wire winding wheel is fixedly sleeved on a motor shaft of the third stepping motor, a first pulley is fixed at the bottom of the upper mounting plate, a steel wire rope penetrating the upper mounting plate and passing through the inner cavities of the first pulley and the second pulley is fixed on the outer wall of the wire winding wheel, and the other end of the steel wire rope is fixed with the bottom of the upper mounting plate.

Preferably, an organ type dust cover is arranged between the upper mounting plate and the lower mounting plate.

Preferably, the integrated sensor comprises a temperature and humidity sensor, an oxygen sensor, an ammonia sensor, a hydrogen sulfide sensor, an illumination intensity sensor and a PM2.5 sensor.

Preferably, the main box body is made of Q235 steel plates and is of a semi-closed structure, the front end of the main box body is provided with a cover, the thickness of the upper plate is 3mm, and the rest of the upper plate is 1mm thick.

Compared with the prior art, the utility model has the beneficial effects that: according to the utility model, the moving mechanism moves by means of a single track, so that the complexity of the moving mechanism is reduced and the waste of materials is reduced; the design of the double driven wheels at the two sides well overcomes the defect that a single-track robot is easy to swing back and forth and left and right and is unstable; the design of the double stepping motors provides greater power for equipment and provides a foundation for the later-stage expansion configuration of the machine; the main box body is formed by welding thin steel plates and is in a lattice form, the structural strength of the box body of the machine and the tightness of components are well guaranteed by the lattice form design, meanwhile, the support is provided for the arrangement of the flat cables of the components, the sufficient utilization space is guaranteed, and meanwhile, the weight of the machine is greatly reduced; the lifting mechanism is uniquely designed in a wire-winding way, has a simple structure, greatly reduces the equipment cost, can randomly adjust the movement height of the lifting mechanism by controlling the rotation times of the wire winding wheel, and has extremely strong adaptability; the external organ type dust cover effectively prevents corrosion of internal components, and the device has the characteristics of good motion stability, compact structure, corrosion resistance, simple structure, good sealing performance and low production cost, and is suitable for being used in a complex pigsty environment.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of the main housing in FIG. 1;

FIG. 3 is a schematic view of a moving mechanism according to the present utility model;

FIG. 4 is a schematic view of the lifting mechanism of FIG. 1;

FIG. 5 is a schematic view of an organ type dust cap installation of the present utility model;

fig. 6 is a schematic circuit diagram of the present utility model.

In the drawings, the list of components represented by the various numbers is as follows:

the device comprises a 1-upper shell, a 2-T-shaped track, a 3-main box, a 4-second infrared sensor, a 5-first infrared sensor, a 6-starting switch, a 7-emergency stop switch, an 8-second signal indicator lamp, a 9-first signal indicator lamp, a 10-charging port, an 11-omnidirectional camera, a 12-lifting mechanism, a 13-integrated sensor, a 30-second infrared sensor position, a 31-lifting mechanism position, a 32-main control board position, a 33-battery position, a 34-first infrared sensor position, a 35-omnidirectional camera position, a 101-T-shaped fixing frame, a 102-fixed baffle, 103-angle iron, a 104-limiting wheel, 105-first left driven wheel, 106-second left driven wheel, 107-first stepping motor, 108-first right driven wheel, 109-second right driven wheel, 110-second stepping motor, a 111-synchronous belt transmission mechanism, a 120-upper mounting plate, 121-lower mounting plate, 122-second pulley, 123-third stepping motor, 124-line reel, 125-first pulley, 126-first pulley, wire rope-reel, and 127-cable.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Referring to fig. 1-2 and 6, the present utility model provides a technical solution: the pig house rail robot comprises an upper shell 1, wherein a moving mechanism is arranged in the upper shell, a T-shaped rail 2 penetrating through the upper shell 1 is arranged on the moving mechanism, a main box body 3 is fixed at the bottom of the upper shell 1, a second infrared sensor 4 and a first infrared sensor 5 are respectively arranged above two sides of the main box body 3, a charging port 10 is arranged below the right side of the main box body 3, a starting switch 6 and a scram switch 7 are respectively arranged above and below the left side of the front surface of the main box body 3, a second signal indicator 8 and a first signal indicator 9 are horizontally arranged above the right side of the front surface of the main box body 3 at intervals, a lifting mechanism 12 and an omnibearing camera 11 are respectively arranged at two sides of the bottom of the main box body 3, an integrated sensor 13 is arranged at the bottom of the lifting mechanism 12, a main box body 3 is provided with a second infrared sensor grid 30 and a lifting mechanism grid 31 at the front and back sides, a main control plate grid 32 and a battery grid 33 are respectively arranged in front and back of the middle of the inner cavity of the main box body 3, a first infrared sensor grid 34 and a full-length sensor grid 35 mm are respectively arranged in front and back of the inner cavity of the main box body 3, a front end of the main box body 3 is provided with a long sensor cover 35 mm, and the front end of the full-length sensor is made of the full-length steel plate is arranged at the front end of the full-length sensor, and the full-length sensor is a full-length sensor cover 1; the telescopic mechanism lattice positions provide fixing and wiring positions for the lower-end lifting mechanism; the main control board grid is used for placing the singlechip control board; the battery cell is provided with a power supply; the camera check is fixed and wiring position is provided for the camera, the vertical grid plate is used for keeping the box structure, leave U-shaped recess on the upside, the downside of recess has 4 mm's hole, the wiring between the different electrical component of U-shaped groove mainly used convenience, the aperture is used for fastening, the casing both sides are equipped with infrared sensor hole groove, the casing top is equipped with the locating hole and the connecting hole of motor wire, and the battery in the battery check 33 constitutes the circuit through scram switch 7 with the main control board in the main control board check 32, and the battery passes through the wire and charges the module and is connected with the mouth 10 that charges, the main control board in the main control board check 32 constitutes the electric circuit with second infrared sensor 4, first infrared sensor 5, start switch 6, second signal indicator 8, first signal indicator 9, moving mechanism and elevating system 12.

Referring to fig. 3, the moving mechanism includes a T-shaped fixing frame 101, fixing baffles 102 are fixed on the front and rear sides of the top of the T-shaped fixing frame 101, angle irons 103 are fixed on two sides of the T-shaped fixing frame 101, limiting wheels 104 are rotatably mounted on the front and rear sides of the upper surfaces of the angle irons 103, a first left driven wheel 105 and a second left driven wheel 106 are rotatably mounted on the left and right sides of the inner wall of the rear fixing baffle 102, a first stepping motor 107 is mounted on the middle portion of the inner wall of the rear fixing baffle 102, a first right driven wheel 108 and a second right driven wheel 109 are rotatably mounted on the left and right sides of the inner wall of the front fixing baffle 102, a second stepping motor 110 is mounted on the middle portion of the inner wall of the rear fixing baffle 102, and a rotating shaft of the second left driven wheel 106 is connected with a motor shaft of the first stepping motor 107 and a motor shaft of the second right driven wheel 109 through a synchronous belt transmission mechanism 111, specifically: the robot is fixed above the main box body 3 of the robot by bolts through a T-shaped fixing frame 101; the fixed barrier 102 serves as an assembly frame for the entire device; angle irons 103 are arranged at the front and the back, and each angle iron 103 is provided with a limiting wheel 104, so that the track robot plays roles of assisting and guiding when passing through a curve; the stepping motor provides power for the driven wheel, and completes driving through the same belt transmission mechanism 111 to perform track type movement; four driven wheels are used to maintain the balance of the apparatus.

Referring to fig. 4 to 5, the lifting mechanism 12 includes an upper mounting plate 120 and a lower mounting plate 121, a second pulley 122 is fixed at the top of the lower mounting plate 121, a third stepper motor 123 is installed at the top of the upper mounting plate 120, a take-up pulley 124 is fixedly sleeved on a motor shaft of the third stepper motor 123, a first pulley 125 is fixed at the bottom of the upper mounting plate 120, a wire rope 126 penetrating the upper mounting plate 120 and passing through inner cavities of the first pulley 125 and the second pulley 122 is fixed on the outer wall of the take-up pulley 124, the other end of the wire rope 126 is fixed with the bottom of the upper mounting plate 120, and an organ type dust cover 127 is installed between the upper mounting plate 120 and the lower mounting plate 121, specifically: the lifting mechanism is mainly responsible for adjusting the height position of the integrated sensor so as to conveniently detect environmental parameters of different heights in the pig house, a set of lifting mechanism with simple structure, stability and reliability is designed for reducing cost, the third stepping motor 123 (with a locking mechanism and a counting function) provides power for the take-up pulley, the height of the integrated sensor is controlled by adjusting the length of the steel wire rope 126 (one end of the steel wire rope is fixed on the box body, and the other end of the steel wire rope is connected with the take-up pulley), and the adjusting range of the lifting mechanism is 0-1.5 m; the pulley is mainly used for guiding the steel wire rope; the integrated sensor integrates temperature and humidity, oxygen, ammonia, hydrogen sulfide, illumination intensity and PM2.5 sensors, and a buckle convenient to detach is reserved at the bottom of the integrated sensor; the organ-type dust cap 127 is mainly used to protect the internal mechanical parts from corrosion, and has sufficient strength and rigidity to avoid tilting during lifting.

When the pigsty track robot is used, the following steps are included: the device is generally divided into three main structures, namely a moving mechanism, a main box body and a telescopic detection mechanism, wherein a starting switch is used for starting equipment, and a scram switch is used for closing the equipment under special conditions; the infrared sensor is mainly responsible for recognizing whether an obstacle exists in front, so that the movement direction is changed; the signal indicator lamp is mainly responsible for prompting the running and networking states of the equipment; the omnibearing camera monitors in real time in the house in omnibearing; when the device runs to a specific position, the device can acquire data at different heights according to a set program;

the method comprises the following steps: (1) After the emergency stop switch 7 is turned on, the equipment is electrified to enter a standby state (all analog quantity and digital quantity interfaces of the main control board are in low level in the electrified state), the equipment is kept still, in the standby state, networking configuration is automatically carried out firstly, the equipment state is sent to a server, after networking is successful, the main control board PA0 outputs 5V high level, and the first signal indicator lamp 9 is turned on;

(2) The starting switch 6 is pressed down in a standby state, the PA3 of the main control board receives a signal, a program is started, the equipment enters a working state (the PA4 sends out a signal and the second signal indicator lamp 8 is lightened), the equipment judges the position of the equipment through the states of the infrared sensors at two ends (the PA6 and the PA5 are in four states of high, low, high and low) at first, and then judges the motion state (advancing or retreating) of the next step; if the first infrared sensor 5 detects an object at a low level and the second infrared sensor 4 does not detect the object at a high level, the main control board issues an instruction, and the first stepping motor 107 and the second stepping motor 110 are commanded to rotate forward through the RS-485 module, so that the left and right synchronous belt transmission mechanism 111 obtains power to drive the left and right driven wheels to rotate, the left and right driven wheels are responsible for maintaining front and rear balance, and when encountering a curve, the 4 limit wheels 104 play a guiding role to assist smooth over-bending; when the first stepping motor 107 and the second stepping motor 110 are reversed, the device performs reverse movement;

(3) The omnidirectional camera 11 is always in a working state in the movement process and is mainly responsible for observing the field condition of the pig house;

(4) The monitoring mechanism controls and monitors through an internal program, when the equipment runs to a monitoring point set by the program, the first stepping motor 107 and the second stepping motor 110 stop moving, the third stepping motor 123 rotates positively, meanwhile, the lifting mechanism starts to descend to the height set by the program in cooperation with the gravity of the mechanism, the third stepping motor 123 locks, environmental data acquisition is carried out, the third stepping motor 123 rotates reversely after the acquisition is completed, after the lifting mechanism returns to a fixed position after the rotation number set by the program, the third stepping motor 123 locks, the first stepping motor 107 and the second stepping motor 110 start rotating, and the equipment continues to start moving to the next monitoring point.

Notably, are: the electrical components that this scheme adopted all are commercial product, belong to current mature technique, and its electric connection relation and specific use control circuit structure and product model are not repeated here.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.

Claims (6)

1. Pig house track robot, including inside last casing (1) that sets up moving mechanism, be provided with T type track (2) that run through last casing (1) on the moving mechanism, its characterized in that: the bottom of the upper shell (1) is fixedly provided with a main box body (3), a second infrared sensor (4) and a first infrared sensor (5) are respectively arranged above two sides of the main box body (3), a charging port (10) is arranged below the right side of the main box body (3), a starting switch (6) and a scram switch (7) are respectively arranged above and below the left side of the front surface of the main box body (3), a second signal indicator lamp (8) and a first signal indicator lamp (9) are horizontally arranged above the right side of the front surface of the main box body (3) at intervals, a lifting mechanism (12) and an all-direction camera (11) are respectively arranged at two sides of the bottom of the main box body (3), an integrated sensor (13) is arranged at the bottom of the lifting mechanism (12), a second infrared sensor grid position (30) and a lifting mechanism grid position (31) are respectively arranged in front and back of the left side of an inner cavity of the main box body (3), a main control panel position (32) and a first infrared sensor grid position (33) are respectively arranged in front of and back of the inner cavity of the main box body (3), a main panel position (33) and a second infrared sensor grid position (33) are respectively arranged in front of the main box body (33) and the inner cavity position (33), and the battery is connected with the charging port (10) through a lead and a charging module, and a main control board in a main control board position (32) and the second infrared sensor (4), the first infrared sensor (5), the starting switch (6), the second signal indicator lamp (8), the first signal indicator lamp (9), the moving mechanism and the lifting mechanism (12) form an electric loop.

2. A pig house rail robot according to claim 1, characterized in that: the moving mechanism comprises a T-shaped fixing frame (101), fixing baffle plates (102) are respectively fixed on the front side and the rear side of the top of the T-shaped fixing frame (101), angle irons (103) are respectively fixed on the two sides of the T-shaped fixing frame (101), limiting wheels (104) are respectively rotatably installed on the front side and the rear side of the upper surface of each angle iron (103), a first left driven wheel (105) and a second left driven wheel (106) are respectively rotatably installed on the left side and the right side of the inner wall of the fixing baffle plate (102), a first stepping motor (107) is installed on the middle portion of the inner wall of the fixing baffle plate (102), a first right driven wheel (108) and a second right driven wheel (109) are respectively rotatably installed on the left side and the right side of the inner wall of the fixing baffle plate (102), and a second stepping motor (110) is installed on the middle portion of the inner wall of the fixing baffle plate (102), and a rotating shaft of the second left driven wheel (106) is connected with a motor shaft of the second stepping motor (110) through a synchronous belt transmission mechanism (111).

3. A pig house rail robot according to claim 1, characterized in that: elevating system (12) are including last mounting panel (120) and lower mounting panel (121), the top of lower mounting panel (121) is fixed with second pulley (122), third step motor (123) are installed at the top of going up mounting panel (120), take-up pulley (124) have been cup jointed to the motor shaft of third step motor (123) fixedly, the bottom of going up mounting panel (120) is fixed with first pulley (125), the outer wall of take-up pulley (124) is fixed with wire rope (126) that runs through last mounting panel (120) and through first pulley (125) and second pulley (122) inner chamber, the other end of wire rope (126) is fixed with the bottom of last mounting panel (120).

4. A pig house rail robot according to claim 3, characterized in that: an organ type dust cover (127) is arranged between the upper mounting plate (120) and the lower mounting plate (121).

5. A pig house rail robot according to claim 1, characterized in that: the integrated sensor (13) comprises a temperature and humidity sensor, an oxygen sensor, an ammonia sensor, a hydrogen sulfide sensor, an illumination intensity sensor and a PM2.5 sensor.

6. A pig house rail robot according to claim 1, characterized in that: the main box body (3) is made of Q235 steel plates and is of a semi-closed structure, the front end of the main box body is provided with a cover, the thickness of the upper plate is 3mm, and the thickness of the rest of the upper plate is 1 mm.