Automatic injection device for poultry

Abstract

The poultry automatic injection equipment disclosed by the embodiment of the present application comprises a moving trolley, a moving frame and an injection mechanism; the moving frame comprises a first sliding module and a second sliding module in sliding connection with the first sliding module; the moving frame is fixedly connected to the moving trolley, and the injection mechanism is installed on the second sliding module; during operation, the moving trolley drives the moving frame and the injection mechanism to move to an injection position, and the moving frame drives the injection mechanism to inject poultry at the injection position. Through the cooperation between the moving trolley, the moving frame and the injection mechanism, automatic injection is realized, the injection efficiency and accuracy are greatly improved, manual operation can be completely replaced, the degree of mechanization is high, and the poultry automatic injection equipment can meet the needs of the current large-scale development of the breeding industry.

Description

Technical Field

[0001] The present invention relates to the technical field of poultry injection, and more particularly to an automatic poultry injection device. Background Art

[0002] In the poultry industry, especially the chicken farming industry, artificial insemination is basically used. The process of inseminating chickens is cumbersome. Not only does it require frequent suction of semen, but the gun tip needs to be replaced after each chicken is injected, and it also needs to be moved in a balanced manner. For large-scale farms, if the injection is completed entirely by hand, it not only requires a lot of manpower, but also has very low efficiency. Artificial insemination is not suitable for the current large-scale development needs of the farming industry.

[0003] However, in view of the current large-scale development of the breeding industry, there is currently no more efficient automated equipment to replace manual operation. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an automatic injection device for poultry.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The automatic poultry injection device includes a mobile trolley, a mobile frame and an injection mechanism; the mobile frame includes a first sliding module and a second sliding module slidably connected to the first sliding module; the mobile frame is fixedly connected to the mobile trolley, and the injection mechanism is installed on the second sliding module; during operation, the mobile trolley drives the mobile frame and the injection mechanism to move to the injection position, and the mobile frame drives the injection mechanism to inject the poultry at the injection position.

[0007] A further technical solution is as follows: the injection mechanism includes a pipette gun, a push rod mechanism and a storage mechanism for storing the gun tip and the injection liquid.

[0008] Its further technical solution is as follows: the first sliding module includes a lifting slide rail and a forward and backward movable slide rail, and the forward and backward movable slide rail is slidably connected to the lifting slide rail through a lifting slider; the second sliding module includes a first slide rail, a second slide rail and a third slide rail; the first slide rail is slidably connected to the forward and backward movable slide rail through a forward and backward movable slide rail, the second slide rail is slidably connected to the first slide rail through a first slide rail, and the third slide rail is slidably connected to the second slide rail through a second slide rail; the storage mechanism is fixedly connected to the first slide rail; the push rod mechanism is slidably connected to the third slide rail through a third slide rail; the first slide rail is arranged in the left and right directions, the second slide rail is arranged in the front and back directions, and the third slide rail is arranged in the up and down directions; the second sliding module also includes a first power member for driving the first slide rail to move, a second power member for driving the second slide rail to move, and a third power member for driving the third slide rail to move, the first power member is connected to the first slide rail, the second power member is connected to the second slide rail, and the third power member is connected to the third slide rail.

[0009] A further technical solution is as follows: the material storage mechanism includes a liquid storage container and a material box; the liquid storage container is used to store the injection liquid, and a plurality of gun tips matching the pipette are arranged in the material box.

[0010] Its further technical solution is: the push rod mechanism includes a push rod seat, a gun head changing push rod and a liquid aspirating and releasing push rod; the push rod seat is fixedly connected to the third slider, and the gun head changing push rod and the liquid aspirating and releasing push rod are fixed on the push rod seat; the pipette includes a gun head changing button and a liquid aspirating and releasing button, and the pushing portion of the gun head changing push rod is aligned with the gun head changing button, and the pushing portion of the liquid aspirating and releasing push rod is aligned with the liquid aspirating and releasing button.

[0011] Its further technical solution is: the first sliding module also includes a first hand-cranked drive component for driving the lifting slider to move, and a second hand-cranked drive component for driving the forward and backward moving slider to move; the first hand-cranked drive component includes a first hand-cranked wheel, a first rotating rod and a first mounting seat; the first rotating rod is movably connected to the first mounting seat, the first hand-cranked wheel is connected to one end of the first rotating rod, and the lifting slider is movably connected to the first rotating rod; when the first hand-cranked wheel is rotated, the first rotating rod rotates synchronously with the direction of the first hand-cranked wheel to drive the lifting slider to move; the second hand-cranked drive component includes a second hand-cranked wheel, a second rotating rod and a second mounting seat; the second rotating rod is movably connected to the second mounting seat, the second hand-cranked wheel is connected to one end of the second rotating rod, and the forward and backward moving slider is movably connected to the second rotating rod, and when the second hand-cranked wheel is rotated, the second rotating rod rotates synchronously with the direction of the second hand-cranked wheel to drive the forward and backward moving slider to move.

[0012] Its further technical solution is: the first rotating rod is provided with a first locking mechanism at a position close to the first hand-cranked wheel, the first locking mechanism includes a first locking seat and a first locking handle, the first locking seat is fixed to the first mounting seat, the first locking seat is provided with a first locking mouth, the first locking mouth is clamped on the first rotating rod, and the first locking handle is movably connected to the first locking seat; by rotating the first locking handle, the first locking mouth is tightened and closed to lock the first rotating rod; the second rotating rod is provided with a second locking mechanism at a position close to the second hand-cranked wheel, the second locking mechanism includes a second locking seat and a second locking handle, the second locking seat is fixed to the second mounting seat, the second locking seat is provided with a second locking mouth, the second locking mouth is clamped on the second rotating rod, and the second locking handle is movably connected to the second locking seat; by rotating the second locking handle, the second locking mouth is tightened and closed to lock the second rotating rod.

[0013] Its further technical solution is: the mobile cart includes a car body and a driving mechanism; the driving mechanism includes a driving frame, a left driving wheel, a right driving wheel, a first driving member, a second driving member and a third driving member; the left driving wheel and the right driving wheel are movably connected to the driving frame, the first driving member is used to drive the left driving wheel to move, the second driving member is used to drive the right driving wheel to move, and the third driving member is used to lift or lower the driving frame; when the driving frame is lifted, the left driving wheel and the right driving wheel are separated from the walking ground, and when the driving frame is lowered, the left driving wheel and the right driving wheel are in contact with the walking ground.

[0014] Its further technical solution is: an eccentric wheel is provided between the third driving member and the driving frame, the eccentric wheel is transmission-connected to the third driving member, and when the part of the eccentric wheel farthest from its rotation center contacts the driving frame, the driving frame is lifted, and when the eccentric wheel is not in contact with the driving frame, the driving frame is lowered; a suspension component cooperating with the eccentric wheel is provided on the top of the driving frame; the suspension component includes a rod-shaped portion and a plate-shaped portion; the lower end of the rod-shaped portion is fixedly connected to the driving frame, and the upper end of the rod-shaped portion is fixedly connected to the plate-shaped portion.

[0015] Its further technical solution is: the mobile cart also includes a first electronic ruler and a second electronic ruler for detecting the distance between the vehicle body and the side object, the first electronic ruler is installed at the front end of the side of the vehicle body, and the second electronic ruler is installed at the rear end of the side of the vehicle body, and the first electronic ruler and the second electronic ruler are located on the same side of the vehicle body; the mobile cart also includes a displacement sensor for detecting the distance moved by a human body.

[0016] The beneficial effects of the present invention compared with the prior art are: the present invention realizes automated injection through the coordination between the designed mobile trolley, mobile frame and injection mechanism, greatly improves the injection efficiency and accuracy, can completely replace manual operation, has a high degree of mechanization, and can meet the needs of the current large-scale development of the breeding industry.

[0017] The push rod mechanism and the second sliding module work together to automatically change tips and draw up the injection solution, significantly improving efficiency compared to manual methods. Furthermore, the automated operation eliminates safety and hygiene concerns, preventing contamination of the injection solution. The pipette can be adjusted left and right, front and back, and up and down. The reservoir, which holds the tips and injection solution, remains stationary during movement, facilitating operation while minimizing the impact of space constraints.

[0018] Through the cooperation between the first sliding module and the second sliding module, the position can be adjusted in multiple directions such as front and back, up and down, left and right, which facilitates the position adjustment and posture adjustment during injection. Compared with the manual method, it greatly improves the work efficiency. Moreover, since it is a mechanical automatic operation, there is no fatigue and continuous operation is possible.

[0019] The first drive member and the second drive member are used to control the left drive wheel and the right drive wheel respectively, which can not only realize the forward and backward movement of the two drive wheels, but also realize steering by controlling the speed difference of the two drive wheels. The two drive wheels can be raised or lowered as needed through the third drive member. When the vehicle body needs to move, the two drive wheels can be lowered. When it does not need to move, the two drive wheels can be raised. The structural design is ingenious and can automatically adjust the two drive wheels according to different usage states. Compared with racks pushed or pulled by people, it has a high degree of automation, does not require manual operation, and is easy to use.

[0020] The first and second electronic rulers detect the distance between the vehicle and objects beside it, adjusting the distance based on the detected information to prevent objects from being dropped or damaged due to collisions between the vehicle and the objects. Furthermore, a displacement sensor detects the forward and backward movement of the human body, allowing the vehicle to follow the person forward or backward based on the person's movement. This eliminates the need for manual pushing or pulling, making it more convenient to use.

[0021] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A schematic structural diagram of a poultry automatic injection device provided in a specific embodiment of the present invention;

[0024] Figure 2 A schematic structural diagram of a movable frame in a poultry automatic injection device provided in a specific embodiment of the present invention;

[0025] Figure 3 A schematic structural diagram of a movable frame and an injection mechanism in a poultry automatic injection device provided in a specific embodiment of the present invention;

[0026] Figure 4 A schematic structural diagram of a push rod mechanism in a poultry automatic injection device provided in a specific embodiment of the present invention;

[0027] Figure 5A schematic structural diagram of a material storage mechanism in a poultry automatic injection device provided in a specific embodiment of the present invention;

[0028] Figure 6 A schematic diagram of the structure of a pipette gun in a poultry automatic injection device provided by a specific embodiment of the present invention;

[0029] Figure 7 A schematic structural diagram of a mobile trolley in a poultry automatic injection device provided in a specific embodiment of the present invention;

[0030] Figure 8 A schematic structural diagram of a mobile carriage in a poultry automatic injection device provided by a specific embodiment of the present invention from another perspective;

[0031] Figure 9 This is a schematic structural diagram of the driving mechanism in the poultry automatic injection device provided in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions of the present invention in conjunction with specific embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] A specific embodiment of the present invention provides a poultry automatic injection device, and this embodiment is used for insemination of chickens for the purpose of specific description. Figure 1-3 As shown, it includes a mobile trolley 1, a mobile frame 2 and an injection mechanism 3; the mobile frame 2 includes a first sliding module 21 and a second sliding module 22 slidingly connected to the first sliding module 21; the mobile frame 2 is fixedly connected to the mobile trolley 1, and the injection mechanism 3 is installed on the second sliding module 22; when working, the mobile trolley 1 drives the mobile frame 2 and the injection mechanism 3 to move to the injection position, and the mobile frame 2 drives the injection mechanism 3 to inject the poultry at the injection position.

[0034] like Figure 2 、 3As shown, the first sliding module 21 includes a lifting slide rail 211 and a front-and-rear moving slide rail 212, and the front-and-rear moving slide rail 212 is slidably connected to the lifting slide rail 211 through a lifting slider 213; the second sliding module 22 includes a first slide rail 221, a second slide rail 222 and a third slide rail 223; the first slide rail 221 is slidably connected to the front-and-rear moving slide rail 212 through a front-and-rear moving slider 214, the second slide rail 222 is slidably connected to the first slide rail 221 through a first slider 227, and the third slide rail 223 is slidably connected to the second slide rail 222 through a second slider 228; the storage mechanism 33 is fixedly connected to the first slide rail 221 On; the push rod mechanism 32 is slidably connected to the third slide rail 223 through the third slider 229; the first slide rail 221 is arranged along the left and right direction, the second slide rail 222 is arranged along the front and rear direction, and the third slide rail 223 is arranged along the up and down direction; the second sliding module 22 also includes a first power member 224 for driving the first slider 227 to move, a second power member 225 for driving the second slider 228 to move, and a third power member 226 for driving the third slider 229 to move. The first power member 224 is connected to the first slide rail 221, the second power member 225 is connected to the second slide rail 222, and the third power member 226 is connected to the third slide rail 223.

[0035] The lifting rail 211 enables the lifting and lowering movement of the forward and backward moving rail 212. The forward and backward moving rail 212 enables the forward and backward movement of the first rail 221. The first rail 221 enables the left and right movement of the second rail 222. The second rail 222 enables the up and down movement of the third rail 223. Therefore, through the mutual cooperation of the first sliding module 21 and the second sliding module 22, the injection mechanism 3 installed on the third rail 223 of the second sliding module 22 can achieve adjustment at a variety of angles and postures, providing favorable conditions for automatic insemination injection of chickens.

[0036] In some embodiments, as Figure 1 As shown, the first sliding module 21 further includes a first hand-cranked driving component 215 for driving the lifting slider 213 to move, and a second hand-cranked driving component 216 for driving the forward and backward moving slider 214 to move.

[0037] Specifically, the first hand-cranked drive assembly 215 includes a first hand-cranked wheel 2151, a first rotating rod 2152 and a first mounting base 2153; the first rotating rod 2152 is movably connected to the first mounting base 2153, the first hand-cranked wheel 2151 is connected to one end of the first rotating rod 2152, and the lifting slider 213 is movably connected to the first rotating rod 2152; when the first hand-cranked wheel 2151 is rotated, the first rotating rod 2152 rotates synchronously with the direction of the first hand-cranked wheel 2151 to drive the lifting slider 213 to move.

[0038] The surface of the first rotating rod 2152 is provided with threads, and the lifting slider 213 is provided with threads that match the surface threads of the first rotating rod 2152. When the first hand-cranked wheel 2151 is manually rotated, the first rotating rod 2152 will rotate accordingly. At this time, the threads on the lifting slider 213 match with the threads at different parts of the surface of the first rotating rod 2152, thereby realizing the movement of the lifting slider 213.

[0039] Specifically, the second hand-cranked drive assembly 216 includes a second hand-cranked wheel 2161, a second rotating rod 2162 and a second mounting base 2163; the second rotating rod 2162 is movably connected to the second mounting base 2163, the second hand-cranked wheel 2161 is connected to one end of the second rotating rod 2162, and the forward and backward moving slider 214 is movably connected to the second rotating rod 2162. When the second hand-cranked wheel 2161 is rotated, the second rotating rod 2162 rotates synchronously with the direction of the second hand-cranked wheel 2161 to drive the forward and backward moving slider 214 to move.

[0040] The surface of the second rotating rod 2162 is provided with threads, and the forward and backward moving slider 214 is provided with threads that match the surface threads of the second rotating rod 2162. When the second hand-cranked wheel 2161 is manually rotated, the second rotating rod 2162 will rotate accordingly. At this time, the threads on the forward and backward moving slider 214 match with the threads at different parts of the surface of the second rotating rod 2162, thereby realizing the movement of the forward and backward moving slider 214.

[0041] The movement of the lifting slider 213 and the forward and backward moving slider 214 is achieved by providing a first hand-cranked drive assembly 215 and a second hand-cranked drive assembly 216, which is low in cost and easy to install. Of course, in some embodiments, other power forms can also be used for driving, such as using a motor, a cylinder, etc.

[0042] like Figure 2 As shown, the first rotating rod 2152 is provided with a first locking mechanism 217 at a position close to the first hand-cranked wheel 2151. The first locking mechanism 217 includes a first locking seat and a first locking handle. The first locking seat is fixed on the first mounting seat 2153. The first locking seat is provided with a first locking mouth. The first locking mouth is clamped on the first rotating rod 2152. The first locking handle is movably connected to the first locking seat. By rotating the first locking handle, the first locking mouth is tightened and closed to lock the first rotating rod 2152.

[0043] like Figure 2As shown, the second rotating rod 2162 is provided with a second locking mechanism 218 at a position close to the second hand-cranked wheel 2161. The second locking mechanism 218 includes a second locking seat and a second locking handle. The second locking seat is fixed on the second mounting seat 2163. The second locking seat is provided with a second locking mouth. The second locking mouth is clamped on the second rotating rod 2162. The second locking handle is movably connected to the second locking seat. By rotating the second locking handle, the second locking mouth is tightened and closed to lock the second rotating rod 2162.

[0044] Since the entire second sliding module 22 is located on the first sliding module 21, the first sliding module 21 bears the entire weight of the second sliding module 22, and the second sliding module 22 also needs to be installed with an injection mechanism 34, and when performing injection, the entire movable frame 2 needs to be kept in a non-moving state. Therefore, a first locking mechanism 217 and a second locking mechanism 218 are provided. After the position is adjusted, the adjusted state can be locked by the first locking mechanism 217 and the second locking mechanism 218, thereby ensuring that the movable frame 2 remains stable when it needs to be kept in a non-moving state.

[0045] like Figure 2 As shown, the second sliding module 22 also includes a first power member 224 for driving the first slider 227 to move, and a second power member 225 for driving the second slider 228 to move; the first power member 224 is connected to the first slide rail 221, and the second power member 225 is connected to the second slide rail 222.

[0046] In some embodiments, as Figure 2 As shown, a third slider 229 is slidably connected to the third slide rail 223 . The third slider 229 is driven by a third power member 226 . The third power member 226 is connected to the third slide rail 223 .

[0047] The power piece and the slider are controlled one-to-one, so the control is more precise and the movement chaos is avoided.

[0048] In this embodiment, the first power member 224, the second power member 225 and the third power member 226 are all powered by servo motors for precise control. Of course, in other embodiments, other power members, such as motors, oil cylinders, etc., may also be used.

[0049] like Figure 4 As shown, the injection mechanism 3 includes a pipette gun 31, a push rod mechanism 32 and a storage mechanism 33 for storing a gun tip 3331 and injection liquid. The push rod mechanism 32 is installed on the second sliding module 22. The second sliding module 22 drives the pipette gun 31 to move to the storage mechanism 33 area, and under the action of the push rod mechanism 32, the gun tip 3331 is replaced and the injection liquid is absorbed from the storage mechanism 33.

[0050] Through the mutual cooperation of the push rod mechanism 32 and the second sliding module 22, the pipette gun 31 can automatically replace the gun head 3331 and absorb the injection liquid, which greatly improves the work efficiency compared with the manual method. Moreover, since it is a mechanical automatic operation, there will be no unsafe and sanitary problems, and the problem of contamination of the injection liquid is avoided.

[0051] In this embodiment, the push rod mechanism 32 is slidably connected to the third slide rail 223 via a third slider 229. The accumulator mechanism 33 is fixedly connected to the first slide rail 221. When the pipette 31 is moving, the accumulator mechanism 33 remains stationary relative to the pipette 31, facilitating operation of the pipette 31 while minimizing the impact of space on the operation of the pipette 31.

[0052] Preferably, in order to facilitate injection after liquid collection, the third slide rail 223 is arranged in the up and down directions while ensuring that the central axis of the third slide rail 223 deviates from the center of gravity, that is, the third slide rail 223 is in a forward and backward tilted state. Based on this, the pipette gun 31 also moves in a forward and backward tilted state when following the third slider 229. The chickens are kept in chicken cages, and the chicken cages are stacked up and down. If the injection direction of the pipette gun 31 is kept parallel to the stacking direction of the chicken cages, this is not conducive to injection. Therefore, if the injection direction of the pipette gun 31 is at a certain tilt angle, it is easy to inject the chickens.

[0053] In addition, if the push rod mechanism 32 and the third slider 229 are adjustable in connection, then the third slide rail 223 does not need to be arranged in the up and down directions while ensuring that the center axis of the third slide rail 223 is deviated from the center of gravity, because the angle between the push rod mechanism 32 and the third slider 229 can be adjusted to satisfy the pipette gun 31 to be in an inclined state that is convenient for injection.

[0054] Of course, in some embodiments, the third slide rail 223 is not only tilted forward and backward, but also tilted left and right. This can further adapt to the injection requirements of chickens and achieve the most comfortable injection angle.

[0055] like Figure 4 、 6 As shown, the push rod mechanism 32 includes a push rod seat 321, a gun head changing push rod 3331 323 and a liquid aspirating and releasing push rod 322; the push rod seat 321 is fixedly connected to the third slider 229, and the gun head changing push rod 3331 323 and the liquid aspirating and releasing push rod 322 are fixed on the push rod seat 321; the pipette gun 31 includes a gun head changing button 3331 3331 and a liquid aspirating and releasing button 311, and the push-out portion of the gun head changing push rod 323 is aligned with the gun head changing button 3331 3331, and the push-out portion of the liquid aspirating and releasing push rod 322 is aligned with the liquid aspirating and releasing button 311.

[0056] After the push rod 323 is pushed out to replace the tip 3331 , the pipette 31 is controlled to retract. When the push rod 323 is retracted, the tip 3331 connector is exposed so that the pipette 31 can take a new tip 3331 .

[0057] When the liquid suction and discharge push rod 322 is pushed out, the vacuum of the liquid pipette 31 is exhausted. When it is retracted, the liquid pipette 31 sucks liquid. When it is pushed out again, the liquid is released (ie, the liquid is injected).

[0058] like Figure 4 As shown, in some embodiments, an injection position indicator laser 34 and an injection laser displacement sensor 35 are also fixed to the push rod base 321. The injection laser displacement sensor 35 is used to detect the position of the poultry to determine the insertion depth of the pipette 31. The injection position indicator laser 34 is used to emit light that coincides with the light points of the injection position laser displacement sensor to determine the injection position. The injection position indicator laser 34 and the injection laser displacement sensor 35 can accurately determine the insertion depth of the pipette 31 and the injection position, reducing injection errors and improving injection accuracy.

[0059] The injection position indicating laser 34 is set to facilitate the chicken catcher during injection (the chicken catcher mainly catches the chicken to prevent it from moving around and avoid affecting the injection) to quickly locate the injection position. Of course, in some embodiments, the injection laser displacement sensor 35 can be used alone without the need to use the injection position indicating laser 34 in conjunction with it.

[0060] In some embodiments, a lighting lamp is provided on the push rod seat to facilitate working in dark environments.

[0061] like Figure 5 As shown, the material storage mechanism 33 includes a liquid storage container 334 and a material box 333; the liquid storage container 334 is used to store the injection liquid, and a plurality of gun tips 3331 matching the pipette 31 are arranged in the material box 333.

[0062] In some embodiments, a gun tip 3331 sensor for detecting the gun tip 3331 is provided near the liquid storage container 334. When the new gun tip 3331 installed on the pipette 31 arrives at the liquid storage container 334 to prepare for liquid collection, the gun tip 3331 sensor will first detect the gun tip 3331, and only after detection will it reach the liquid collection position.

[0063] In some embodiments, as Figure 4 As shown, the storage mechanism 33 also includes a storage arm 331 and a support plate 332. One end of the storage arm 331 is fixedly connected to the first slide rail 221, and the other end is connected to the support plate 332. The liquid storage container 334 and the material box 333 are fixed on the support plate 332.

[0064] Preferably, in order to facilitate adjustment of the position of the material box 333 and facilitate liquid collection by the pipette 31, the support plate 332 is adjustably connected to the material storage arm 331, and the angle of the support plate 332 can be adjusted relative to the material storage arm 331. After the angle of the support plate 332 is adjusted, it must be consistent with the tilt angle of the pipette 31 to facilitate replacement of the pipette tip and liquid collection by the pipette 31.

[0065] In some embodiments, after taking out the gun tips 3331, the pipette gun 31 will accumulate the number of gun tips 3331 taken out, and determine whether all the gun tips 3331 in the material box 333 have been taken out based on the number of gun tips 3331 taken out and the maximum number of gun tips 3331 that the material box 333 can accommodate. If all have been taken out, a prompt will be issued to replace the material box 333.

[0066] In addition, although the amount of injection liquid drawn each time is constant, some injection liquid will inevitably remain on the pipette tip 3331 each time the injection liquid is drawn. This will result in the injection liquid in the liquid storage container 334 not being quantitatively reduced by the amount drawn once each time the injection liquid is drawn, but actually being slightly more than the amount drawn once. Therefore, to avoid the error caused by this factor, it is necessary to adjust the liquid drawing height of the pipette tip 3331 each time the injection liquid is drawn. Specifically, the liquid drawing height of the pipette tip 3331 of the pipette 31 is determined based on the maximum number of injection liquid draws and the cumulative number of injection liquid draws from the liquid storage container 334. Since the amount of injection liquid remaining on the pipette tip during the liquid drawing process is generally constant, this situation can be taken into account when determining the liquid drawing height of the pipette tip to avoid the interference caused by it.

[0067] like Figure 7-9 As shown, the mobile vehicle 1 includes a vehicle body 11 and a driving mechanism 12; the driving mechanism 12 includes a driving frame 121, a left driving wheel 122, a right driving wheel 123, a first driving member 124, a second driving member 125 and a third driving member 127; the left driving wheel 122 and the right driving wheel 123 are movably connected to the driving frame 121, the first driving member 124 is used to drive the left driving wheel 122 to move, the second driving member 125 is used to drive the right driving wheel 123 to move, and the third driving member 127 is used to lift or lower the driving frame 121; when the driving frame 121 is lifted, the left driving wheel 122 and the right driving wheel 123 are separated from the walking ground, and when the driving frame 121 is lowered, the left driving wheel 122 and the right driving wheel 123 are in contact with the walking ground.

[0068] The first driving member 124 and the second driving member 125 are installed in the installation cavity configured by the driving frame 121. The first driving member 124 controls the forward, backward and rotation speed of the left driving wheel 122, and the second driving member 125 controls the forward, backward and rotation of the right driving wheel 123. When the rotation speeds of the left driving wheel 122 and the right driving wheel 123 are controlled to be different, the steering of the vehicle body 11 can be achieved. For example, when the forward speed of the left driving wheel 122 is controlled to be greater than the forward speed of the right driving wheel 123, steering to the right front can be achieved. When the forward speed of the left driving wheel 122 is controlled to be less than the forward speed of the right driving wheel 123, steering to the left front can be achieved. When the backward speed of the left driving wheel 122 is controlled to be greater than the backward speed of the right driving wheel 123, steering to the right rear can be achieved. When the backward speed of the left driving wheel 122 is controlled to be less than the backward speed of the right driving wheel 123, steering to the left rear can be achieved.

[0069] The first drive member 124 and the second drive member 125 are used to control the left drive wheel 122 and the right drive wheel 123 respectively, which can not only realize the forward and backward movement of the two drive wheels, but also realize steering by controlling the speed difference between the two drive wheels. The two drive wheels can be raised or lowered as needed through the third drive member 127. When the vehicle body 11 needs to move, the two drive wheels can be lowered. When it does not need to move, the two drive wheels can be raised. The structural design is ingenious and can automatically adjust the two drive wheels according to different usage states. Compared with the rack pushed or pulled by people, it has a high degree of automation, does not require manual operation, and is easy to use.

[0070] In some embodiments, as Figure 9 As shown, an eccentric wheel 128 is provided between the third driving member 127 and the driving frame 121, and the eccentric wheel 128 is transmission-connected to the third driving member 127. Specifically, the eccentric wheel 128 is mounted on the power output shaft of the third driving member 127. When the part of the eccentric wheel 128 farthest from its rotation center contacts the driving frame 121, the driving frame 121 is lifted, and at this time the left driving wheel 122 and the right driving wheel 123 are separated from the walking ground. When the eccentric wheel is out of contact with the driving frame 121, the driving frame 121 is lowered, and at this time the left driving wheel 122 and the right driving wheel 123 are in contact with the walking ground.

[0071] Of course, in other embodiments, other eccentric structures may be used to replace the eccentric wheel 128, as long as they can achieve the corresponding functions.

[0072] like Figure 9As shown, the top of the drive frame 121 is provided with a suspension component 126 that cooperates with the eccentric wheel 128. Specifically, the suspension component 126 includes a rod-shaped portion 1262 and a plate-shaped portion 1261; the lower end of the rod-shaped portion 1262 is fixedly connected to the drive frame 121, and the upper end of the rod-shaped portion 1262 is fixedly connected to the plate-shaped portion 1261. The lower surface of the plate-shaped portion 1261 constitutes a contact surface that cooperates with the eccentric wheel 128. When the eccentric wheel 128 lifts the plate-shaped portion 1261, the entire drive frame 121 can be lifted. When it is not lifted, the entire drive frame 121 is lowered. The lifting and lowering functions are realized with a relatively simple structure. The structural design is ingenious, easy to manufacture, and the manufacturing cost is low.

[0073] In some embodiments, an installation cavity is provided inside the vehicle body 11, and the third driving member 127 is installed in the installation cavity. A through hole is provided at the bottom of the vehicle body 11, and the upper end of the rod-shaped portion 1262 passes through the through hole so that the plate-shaped portion 1261 and the eccentric wheel 128 form a match inside the vehicle body 11.

[0074] Since the upper end of the rod-shaped portion 1262 is inside the vehicle body 11 after passing through the through hole, even if the drive frame 121 is in the lowered state, the through hole will limit the rod-shaped portion 1262, thereby preventing the drive frame 121 from completely separating from the vehicle body 11 and sliding out from the bottom of the vehicle body 11.

[0075] In some embodiments, as Figure 7 、 8 As shown, the mobile cart 1 also includes a first moving wheel group and a second moving wheel group, which are installed at the bottom of the vehicle body 11; the first moving wheel group includes a left front moving wheel 16 and a left rear moving wheel 17, and the second moving wheel group includes a right front moving wheel 18 and a right rear moving wheel 19, and the left front moving wheel 16, the left rear moving wheel 17, the right front moving wheel 18 and the right rear moving wheel 19 are distributed around the driving frame 121.

[0076] The bottoms of the left front moving wheel 16, the left rear moving wheel 17, the right front moving wheel 18 and the right rear moving wheel 19 need to be kept flush, and the bottoms of the left driving wheel 122 and the right driving wheel 123 need to be kept flush with the four moving wheels when the driving frame 121 is lowered, so that normal movement can be carried out.

[0077] Since the left front moving wheel 16, the left rear moving wheel 17, the right front moving wheel 18 and the right rear moving wheel 19 are all non-powered, their main function is to form support for the vehicle body 11 and assist the movement of the vehicle body 11 when the left drive wheel 122 and the right drive wheel 123 move. This design can meet normal functional requirements while greatly reducing production costs because there is no need to install drive components on the four moving wheels.

[0078] In this embodiment, the first driving member 124, the second driving member 125 and the third driving member 127 are all motors. In order to facilitate precise control, servo motors are preferably used. Of course, in other embodiments, other power members can also be used instead, for example, oil cylinders, air cylinders, etc.

[0079] In some embodiments, as Figure 7 As shown, the mobile vehicle 1 further includes a first electronic ruler 13 and a second electronic ruler 14 for detecting the distance between the vehicle body 11 and the lateral object. The first electronic ruler 13 is installed at the front end of the side of the vehicle body 11, and the second electronic ruler 14 is installed at the rear end of the side of the vehicle body 11. The first electronic ruler 13 and the second electronic ruler 14 are located on the same side of the vehicle body 11.

[0080] Since this embodiment is targeted at the application scenario of an automatic poultry insemination system, the side object in this embodiment is a chicken coop. The main purpose of providing the first electronic ruler 13 and the second electronic ruler 14 is to maintain the distance between the vehicle body 11 and the chicken coop at a set distance to ensure injection accuracy and smooth movement of the vehicle body 11.

[0081] According to the situations detected by the two electronic rulers, the position of the vehicle body 11 can be adjusted in real time. The specific adjustment method will be described in detail in the following method embodiment.

[0082] In some embodiments, the first electronic ruler 13 and the second electronic ruler 14 are fixed by two support columns 15 respectively. For measurement accuracy, the first electronic ruler 13 and the second electronic ruler 14 need to be fixed at the same height and kept flush.

[0083] In some embodiments, the mobile vehicle 1 further includes a displacement sensor (not shown) for detecting the distance a person moves. The displacement sensor is mounted in front of the vehicle body 11 and is used to detect the movement of the person, thereby driving the vehicle body 11 to follow the person and maintain an appropriate distance. The specific method for following the person will be described in detail in the following method embodiments.

[0084] In some embodiments, a forward button for controlling the forward movement of the vehicle 11 and a reverse button for controlling the reverse movement of the vehicle 11 are provided on the vehicle body 11. The forward and reverse buttons are provided to meet special needs, for example, when the vehicle 11 needs to be quickly moved to another location. Of course, it should be noted that when these two buttons are triggered, if the drive frame 121 is in the raised state, it will be immediately lowered to meet the movement needs of the vehicle 11.

[0085] In some implementations, the vehicle body 11 is provided with a battery power area 111 , an electrical control area 113 , and a touch control area 112 .

[0086] Among them, the battery power area 111 adopts a 24V, 60AH ultra-high capacity lithium iron phosphate rechargeable battery, which can enable the equipment to operate continuously for more than 6 hours.

[0087] The electrical control area 113 controls the forward / reverse movement of the equipment and the coordinated operation of various components, and distinguishes three groups of power supply management and leakage protection.

[0088] The touch control area 112 is provided with four mechanical switches, namely, emergency stop, start, stop, and power on / off. There is also a three-color indicator light and a touch display screen to display the current operating status, as well as parameter and mode settings. The settings include the XYZ axis speed, acceleration and deceleration, three-point positioning of the gun head 3331 and the gun head 3331, left and right wheel speeds, electric push rod pushing and retraction time, high and low points of the trolley driving wheel, walking laser sensing distance range, injection laser sensing distance range, injection depth, suction and punching liquid level calibration, etc. of the poultry automatic insemination system.

[0089] The method for automatically adjusting the position of the mobile vehicle 1 comprises the following steps:

[0090] S10 , obtaining the sensing states of the first electronic ruler 13 and the second electronic ruler 14 .

[0091] S20 , adjusting the direction of the vehicle body 11 according to the sensing states of the first electronic ruler 13 and the second electronic ruler 14 so that the vehicle body 11 maintains a set distance from the object beside it.

[0092] Specifically, in step S20 , when the first electronic ruler 13 senses and the second electronic ruler 14 does not sense, or when the first electronic ruler 13 does not sense and the second electronic ruler 14 senses, the vehicle body 11 is controlled to move toward the side object (chicken coop).

[0093] If both the first electronic ruler 13 and the second electronic ruler 14 sense, the sensing values ​​of the first electronic ruler 13 and the second electronic ruler 14 must be further determined. If the sensing value of the first electronic ruler 13 is greater than the sensing value of the second electronic ruler 14, the vehicle body 11 is controlled to move away from the chicken coop. If the sensing value of the first electronic ruler 13 is less than the sensing value of the second electronic ruler 14, the vehicle body 11 is controlled to move toward the chicken coop. If the sensing value of the first electronic ruler 13 is equal to the sensing value of the second electronic ruler 14, the vehicle body 11 is controlled not to move away from the chicken coop or toward the chicken coop.

[0094] By adjusting the direction of the vehicle body 11 according to the sensing states of the first electronic ruler 13 and the second electronic ruler 14, the vehicle body 11 can be kept at a set distance from the chicken cage, thereby preventing the vehicle body 11 from colliding with the chicken cage, causing objects to fall and be damaged, and also facilitating the injection operation.

[0095] S30 , determining the forward and backward movement state of the human body in front of the vehicle body 11 through the displacement sensor.

[0096] S40 , controlling the vehicle body 11 to follow the human body forward or backward according to the forward and backward movement state of the human body.

[0097] Specifically, in step S40, after injecting a chicken cage and detecting that the human body has completed moving forward, the vehicle body 11 is controlled to automatically move forward, and stops when it advances to the set distance between the vehicle body 11 and the human body. After injecting a chicken cage and detecting that the human body has completed moving backward, the vehicle body 11 is controlled to automatically move backward following the human body, and stops when it moves backward to the set distance between the vehicle body 11 and the human body.

[0098] In addition, if the distance detected that the human body moves is greater than the set maximum distance value, the vehicle body 11 is controlled to remain motionless, which may be due to the person leaving. If the distance detected that the human body moves is less than the set minimum distance value, the vehicle body 11 is controlled to remain motionless, which may be due to the person catching the chicken.

[0099] The displacement sensor can detect the forward and backward movement of the human body, so that the vehicle body 11 can be controlled to follow the human body forward or backward according to the forward and backward movement of the human body. There is no need to manually push or pull the vehicle body 11 to move, which is more convenient to use.

[0100] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. Automatic poultry injection equipment, used for insemination of breeder chickens, characterized by: It includes a moving trolley, a moving frame and an injection mechanism; the moving frame includes a first sliding module and a second sliding module slidably connected to the first sliding module; the moving frame is fixedly connected to the moving trolley, and the injection mechanism is installed on the second sliding module; when working, the moving trolley drives the moving frame and the injection mechanism to move to the injection position, and the moving frame drives the injection mechanism to inject the poultry at the injection position; the first sliding module includes a lifting slide rail and a front and back moving slide rail, and the front and back moving slide rail is slidably connected to the lifting slide rail through a lifting slider; the second sliding module includes a first slide rail, a second slide rail and a third slide rail; the first slide rail is slidably connected to the front and back moving slide rail through a front and back moving slider, the second slide rail is slidably connected to the first slide rail through a first slider, and the third slide rail is slidably connected to the second slide rail through a second slider connection; the injection mechanism includes a pipette, a push rod mechanism and a storage mechanism for storing gun tips and injection liquid; the storage mechanism includes a liquid storage container and a material box; the liquid storage container is used to store injection liquid, and a plurality of gun tips matching the pipette are arranged in the material box; the storage mechanism is fixedly connected to the first slide rail; the push rod mechanism is slidably connected to the third slide rail through a third slider; the first slide rail is arranged along the left and right directions, the second slide rail is arranged along the front and back directions, and the third slide rail is arranged along the up and down directions; the second sliding module also includes a first power member for driving the first slider to move, a second power member for driving the second slider to move, and a third power member for driving the third slider to move, the first power member is connected to the first slide rail, the second power member is connected to the second slide rail, and the third power member is connected to the third slide rail.

2. The poultry automatic injection device according to claim 1, characterized in that The push rod mechanism includes a push rod seat, a gun head changing push rod and a liquid aspirating and releasing push rod; the push rod seat is fixedly connected to the third slider, and the gun head changing push rod and the liquid aspirating and releasing push rod are fixed on the push rod seat; the pipette includes a gun head changing button and a liquid aspirating and releasing button, and the pushing portion of the gun head changing push rod is aligned with the gun head changing button, and the pushing portion of the liquid aspirating and releasing push rod is aligned with the liquid aspirating and releasing button.

3. The poultry automatic injection device according to claim 1, characterized in that The first sliding module also includes a first hand-cranked drive component for driving the lifting slider to move, and a second hand-cranked drive component for driving the forward and backward moving slider to move; the first hand-cranked drive component includes a first hand-cranked wheel, a first rotating rod and a first mounting seat; the first rotating rod is movably connected to the first mounting seat, the first hand-cranked wheel is connected to one end of the first rotating rod, and the lifting slider is movably connected to the first rotating rod; when the first hand-cranked wheel is rotated, the first rotating rod rotates synchronously with the direction of the first hand-cranked wheel to drive the lifting slider to move; the second hand-cranked drive component includes a second hand-cranked wheel, a second rotating rod and a second mounting seat; the second rotating rod is movably connected to the second mounting seat, the second hand-cranked wheel is connected to one end of the second rotating rod, and the forward and backward moving slider is movably connected to the second rotating rod, and when the second hand-cranked wheel is rotated, the second rotating rod rotates synchronously with the direction of the second hand-cranked wheel to drive the forward and backward moving slider to move.

4. The poultry automatic injection device according to claim 3, characterized in that: The first locking mechanism is provided on the first rotating rod at a position close to the first hand-cranked wheel, and the first locking mechanism includes a first locking seat and a first locking handle, the first locking seat is fixed to the first mounting seat, the first locking seat is provided with a first locking mouth, the first locking mouth is clamped on the first rotating rod, and the first locking handle is movably connected to the first locking seat; by rotating the first locking handle, the first locking mouth is tightened and closed to lock the first rotating rod; the second rotating rod is provided with a second locking mechanism at a position close to the second hand-cranked wheel, and the second locking mechanism includes a second locking seat and a second locking handle, the second locking seat is fixed to the second mounting seat, the second locking seat is provided with a second locking mouth, the second locking mouth is clamped on the second rotating rod, and the second locking handle is movably connected to the second locking seat; by rotating the second locking handle, the second locking mouth is tightened and closed to lock the second rotating rod.

5. The poultry automatic injection device according to claim 1, characterized in that: The mobile cart includes a body and a driving mechanism; the driving mechanism includes a driving frame, a left driving wheel, a right driving wheel, a first driving member, a second driving member and a third driving member; the left driving wheel and the right driving wheel are movably connected to the driving frame, the first driving member is used to drive the left driving wheel to move, the second driving member is used to drive the right driving wheel to move, and the third driving member is used to lift or lower the driving frame; when the driving frame is lifted, the left driving wheel and the right driving wheel are separated from the walking ground, and when the driving frame is lowered, the left driving wheel and the right driving wheel are in contact with the walking ground.

6. The poultry automatic injection device according to claim 5, characterized in that: An eccentric wheel is provided between the third driving member and the driving frame, and the eccentric wheel is transmission-connected to the third driving member. When the part of the eccentric wheel farthest from its rotation center contacts the driving frame, the driving frame is lifted; when the eccentric wheel is not in contact with the driving frame, the driving frame is lowered; a suspension component cooperating with the eccentric wheel is provided on the top of the driving frame; the suspension component includes a rod-shaped portion and a plate-shaped portion; the lower end of the rod-shaped portion is fixedly connected to the driving frame, and the upper end of the rod-shaped portion is fixedly connected to the plate-shaped portion.

7. The poultry automatic injection device according to claim 5, characterized in that: The mobile cart further includes a first electronic ruler and a second electronic ruler for detecting the distance between the cart body and a side object. The first electronic ruler is installed at the front end of the side of the cart body, and the second electronic ruler is installed at the rear end of the side of the cart body. The first electronic ruler and the second electronic ruler are located on the same side of the cart body. The mobile cart further includes a displacement sensor for detecting the distance moved by a human body.

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