Sampling robot for ASF early diagnosis in swinery breeding system

Abstract

The invention discloses a sampling robot for ASF early diagnosis in a swinery breeding system, and belongs to the technical field of animal sampling. The bottom of a sampling mechanical arm is fixedly arranged on a sampling table, and the top of the sampling mechanical arm is connected with a sampling assembly and used for driving the sampling assembly to move and rotate; the controller is arranged on the sampling table and used for controlling the sampling mechanical arm and the sampling assembly to move; the sampling mechanical arm and the sampling assembly are electrically connected with the controller; the image acquisition device is arranged at the top of the sampling mechanical arm and is used for acquiring image information; the image acquisition device is electrically connected with the controller; a sampling pipe is arranged in the sampling pipe placing barrel; one end of the driving cavity is fixedly connected with the fixed support; one end of the sampling tube placing cylinder is rotationally connected with the driving cavity; the placing tube driving structure drives the sampling tube placing barrel to rotate; the sampling tube driving structure drives the sampling tube to move; and the sampling swab driving structure clamps one end of the sampling swab long rod and drives the sampling swab long rod to move. The device has the advantages of high automation degree and high safety efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of animal sampling, and more particularly to a sampling robot for early diagnosis of ASF in a pig breeding system. BACKGROUND

[0002] African swine fever (ASF) is an infectious disease caused by a virus that can affect pigs of all ages, causing hemorrhagic fever, and the related mortality rate of acute onset form is as high as 100%. Since there is no vaccine for prevention of African swine fever, strict health and biosecurity control measures need to be implemented to prevent the spread of the disease, and this relies on rapid and reliable early diagnosis of the disease. In the early stage of pig infection, no or little toxin is discharged, and good harmless treatment and disinfection measures are not easy to cause spread. From the detection site of the pathogen, the tonsil can be detected first, then the oral and nasal swab, followed by the anal swab, and finally the blood. The virus enters the blood from the tonsil, and the pig becomes infectious. Therefore, the most ideal detection sample is the tonsil, followed by the oral and nasal swab, but considering the convenience of sampling, the most commonly used in clinical is the oral and nasal swab or saliva. The current collection method for the nasal swab of swine fever is mainly manual operation, and the operator wears gloves and holds a cotton swab to immerse the nasal cavity fluid into the deep part of the pig nose, and then puts the collected cotton swab into a self-sealing bag or an EP tube. When collecting the next pig, the PE gloves need to be replaced, and the operator needs to be in close contact with the pig that may carry swine fever, and the close distance to the pig's mouth also easily causes the operator to be injured, so the collection process consumes a lot of physical strength of the operator, and also easily threatens the personal safety of the operator.

[0003] Therefore, how to provide a sampling robot for early diagnosis of ASF in a pig breeding system that can be safely collected and automated is a problem that those skilled in the art need to solve. SUMMARY

[0004] Therefore, the application provides a sampling robot for early diagnosis of ASF in a pig breeding system, which adopts the following technical solutions:

[0005] The sampling robot for early diagnosis of ASF in a pig breeding system comprises a sampling table, a sampling mechanical arm, a sampling assembly and a controller. The bottom of the sampling mechanical arm is fixedly arranged on the sampling table. The top of the sampling mechanical arm is connected with the sampling assembly, and is used to drive the sampling assembly to move and rotate. The sampling assembly is arranged vertically to the sampling mechanical arm. The controller is arranged on the sampling table, and is used to control the movement of the sampling mechanical arm and the sampling assembly. The sampling mechanical arm and the sampling assembly are both electrically connected with the controller. The image acquisition device is arranged on the top of the sampling mechanical arm, and is used to acquire image information. The image acquisition device is electrically connected with the controller.

[0006] The sampling assembly comprises a sampling tube placing cylinder, a driving cavity, a sampling tube driving structure, a placing tube driving structure and a sampling swab driving structure; one end of the driving cavity is fixedly connected to the fixed support; one end of the sampling tube placing cylinder is rotationally connected to the driving cavity; a sampling tube is arranged inside the sampling tube placing cylinder; the sampling tube driving structure, the placing tube driving structure and the sampling swab driving structure are all arranged inside the driving cavity; the placing tube driving structure drives the sampling tube placing cylinder to rotate; the sampling tube driving structure is used for driving the sampling tube to move; and the sampling swab driving structure is used for clamping one end of the sampling swab long rod and driving the sampling swab long rod to move.

[0007] Further, the sampling mechanical arm comprises a base, a rotating disc, a first connecting arm, a second connecting arm and a fixed support; the base is fixedly connected to a sampling table at the bottom; the rotating disc is rotationally connected to the top of the base; a first steering wheel is arranged inside the base and used for driving the rotating disc to rotate; the first connecting arm is rotationally connected to the rotating disc at the bottom; a second steering wheel is arranged on one side of the rotating disc and used for driving the first connecting arm to vertically swing; the first connecting arm is rotationally connected to the second connecting arm at the top; a third steering wheel is arranged inside the connection and used for driving the second connecting arm to vertically swing; the second connecting arm is rotationally connected to the fixed support at the top; a fourth steering wheel is arranged inside the connection and used for driving the fixed support to vertically swing; the fixed support is fixedly connected to the sampling assembly at the top; and the first steering wheel, the second steering wheel, the third steering wheel and the fourth steering wheel are all electrically connected to the controller.

[0008] Further, a rotating open-close cover is arranged at the outer end of the sampling tube; and the cover is embeddedly connected to the sampling tube placing cylinder.

[0009] Further, the placing tube driving structure comprises a moving ring, a driving piece and a driving electric cylinder; the moving ring is embedded in an annular slide arranged in the side wall of the driving cavity; a spiral-shaped through groove is formed in one end of the side wall of the annular slide; the sampling tube placing cylinder is slidably connected to the moving ring through a circumferentially arranged connecting block; the connecting block is slidably embedded in an annular groove arranged at one end of the moving ring through the spiral-shaped through groove of the annular slide; an annular through groove is formed in the other end of the side wall of the annular slide; the side edge of the driving piece is fixedly connected to the other end of the moving ring through the annular through groove; the output end of the driving electric cylinder is fixedly connected to the driving piece, and the fixed end is fixedly connected to the side wall of the driving cavity; and the driving electric cylinder is electrically connected to the controller.

[0010] Further, an annular slope is further arranged on the inner wall of the sampling tube placing cylinder, which assists the sampling tube to be inserted into the sampling tube placing cylinder.

[0011] Further, the sampling tube driving structure comprises a first driving motor, a fixed plate, a threaded rod, a light rod, a connecting plate and a moving cylinder; the fixed plate is fixedly arranged in the driving cavity; the first driving motor is fixedly arranged on the side wall of the driving cavity; one end of the threaded rod penetrates through the fixed plate and is fixedly connected with the output end of the first driving motor, and the other end penetrates through the connecting plate and the moving cylinder and extends into the moving cylinder and is fixedly connected with a sliding block in the moving cylinder; the sliding block is threadedly connected with the inner wall of the moving cylinder; one end of the moving cylinder is fixedly connected with the connecting plate, and the other end abuts against one end of the sampling tube; one end of the light rod is fixedly connected with the fixed plate, and the other end penetrates through the connecting plate and abuts against one end of the sampling tube; and the first driving motor is electrically connected with the controller.

[0012] Further, the sampling swab driving structure comprises a clamping assembly and a pushing assembly; the pushing assembly comprises a rotating cylinder, a bearing block, a second driving motor and two limiting rods; the rotating cylinder is rotationally arranged in the driving cavity, one end of the rotating cylinder is rotationally connected with a support plate on the inner wall of the driving cavity, and the other end is connected with the output end of the second driving motor; the fixed end of the second driving motor is fixedly connected with the side wall of the driving cavity; the bearing block is threadedly connected in the rotating cylinder, and two groups of limiting rods are fixedly connected with the side wall of the driving cavity through the bearing block and the rotating cylinder, and the other ends of the two groups of limiting rods are fixedly connected with the support plate; the second driving motor is electrically connected with the controller; and the clamping assembly is arranged on the bearing block.

[0013] Further, the clamping assembly comprises two groups of clamping jaws, two groups of moving blocks, two groups of connecting rods, a rotating rod and a third driving motor; the third driving motor is embedded in the bearing block, and the output end of the third driving motor is fixedly connected with the middle part of the rotating rod; the rotating rod is rotationally connected with one group of connecting rods at two ends, and the other end of the connecting rod is rotationally connected with the moving block; one end of the clamping jaw is fixedly connected with the moving block, and the other end of the clamping jaw clamps the long rod of the sampling swab; the bearing block is further provided with a groove, and the groove is slidingly connected with the bottom of the moving block; and the third driving motor is electrically connected with the controller.

[0014] Further, the image acquisition device comprises two groups of cameras and infrared detectors arranged on the two sides of the sampling assembly respectively; and the cameras and the infrared detectors are electrically connected with the controller.

[0015] The present application has the following advantages:

[0016] The application provides a sampling robot for early diagnosis of ASF in a pig breeding system, which is capable of automatically sampling the nose of a sick pig through a sampling mechanical arm, which provides multiple degrees of freedom to drive a sampling assembly; the sampling assembly is capable of automatically opening and closing a sampling tube, pushing and retracting a sampling swab, and automatically taking the sampling tube, and the whole process of the robot can be mechanized, so that the degree of automation is higher, the sampling efficiency is improved, the close contact between a sampling operator and the sick pig is reduced, the personal safety of the operator is ensured, and the sample is prevented from being contaminated. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only the embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of the provided drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0019] Figure 2 It is a schematic diagram of the structure of the sampling mechanical arm of the present application.

[0020] Figure 3 It is a schematic diagram of the internal structure of the sampling assembly of the present application.

[0021] Figure 4 It is a schematic diagram of the structure of the connecting rod and the rotating rod of the present application. Figure 3 It is an enlarged view of A in the figure.

[0022] Figure 5 It is a schematic diagram of the structure of the connecting rod and the rotating rod of the present application.

[0023] In the figure, the following are:

[0024] 1-sampling mechanical arm; 2-sampling assembly; 3-base; 4-rotating disc; 5-first connecting arm; 6-second connecting arm; 7-fixed support; 8-sampling tube placing cylinder; 9-driving cavity; 10-sampling tube; 11-sampling swab; 12-cover; 13-moving ring; 14-driving sheet; 15-driving electric cylinder; 16-first driving motor; 17-fixed plate; 18-threaded rod; 19-light rod; 20-connecting plate; 21-moving cylinder; 22-sliding block; 23-rotating cylinder; 24-bearing block; 25-second driving motor; 26-limiting rod; 27-clamping jaw; 28-moving block; 29-connecting rod; 30-rotating rod; 31-third driving motor. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0026] Please refer to the drawings Figures 1-5 The present application provides a sampling robot for early diagnosis of ASF in a pig breeding system, comprising a sampling table, a sampling mechanical arm 1, a sampling assembly 2 and a controller. The bottom of the sampling mechanical arm 1 is fixedly arranged on the sampling table and is connected by a bolt. The top of the sampling mechanical arm 1 is connected to the sampling assembly 2 for driving the sampling assembly 2 to move and rotate. The sampling assembly 2 is arranged vertically to the sampling mechanical arm 1 and is used for collecting samples. The controller is arranged on the sampling table and is used for controlling the movement of the sampling mechanical arm 1 and the sampling assembly 2. The controller is electrically connected to the sampling mechanical arm 1 and the sampling assembly 2. An image acquisition device is arranged on the top of the sampling mechanical arm 1 and is used for collecting images to calculate the position of the pig's nostrils and the setting position of the sampling tube 10. The image acquisition device is electrically connected to the controller. The collected image information needs to be transmitted to the controller, and the controller transmits movement signals to the sampling mechanical arm 1 and the sampling assembly 2 to control the sampling position and the placement position of the sampling tube 10.

[0027] The sampling mechanical arm 1 comprises a base 3, a rotating disc 4, a first connecting arm 5, a second connecting arm 6 and a fixed support 7. The bottom of the base 3 is fixedly connected to the sampling table. The rotating disc 4 is rotatably connected to the top of the base 3. The inside of the base 3 is provided with a first steering wheel for driving the rotating disc 4 to rotate. The bottom of the first connecting arm 5 is rotatably connected to the rotating disc 4. The side of the rotating disc 4 is provided with a second steering wheel for driving the first connecting arm 5 to vertically swing. The top of the first connecting arm 5 is rotatably connected to the bottom of the second connecting arm 6. The inside of the connection is provided with a third steering wheel. The third steering wheel is used to drive the second connecting arm 6 to vertically swing. The top of the second connecting arm 6 is rotatably connected to the bottom of the fixed support 7. The inside of the connection is provided with a fourth steering wheel. The fourth steering wheel is used to drive the fixed support 7 to vertically swing. The top of the fixed support 7 is fixedly connected to the sampling assembly 2. The sampling assembly 2 is arranged vertically to the fixed support 7. The first steering wheel drives the sampling assembly 2 to rotate horizontally. The second steering wheel, the third steering wheel and the fourth steering wheel respectively drive the first connecting arm 5, the second connecting arm 6 and the fixed support 7 to vertically rotate along the respective connections, drive the sampling assembly 2 to move vertically, and approach the pig's nostrils and the sampling tube 10. The first steering wheel, the second steering wheel, the third steering wheel and the fourth steering wheel are all electrically connected to the controller.

[0028] The sampling assembly 2 comprises a sampling tube placing cylinder 8, a driving cavity 9, a sampling tube driving structure, a placing tube driving structure and a sampling swab driving structure; one end of the driving cavity 9 is fixedly connected to the fixed support 7 of the sampling mechanical arm 1; one end of the sampling tube placing cylinder 8 is rotatably connected to the driving cavity 9; the sampling tube placing cylinder 8 is through at both ends and internally provided with a sampling tube 10 for storing a sampling swab 11; the outer end of the sampling tube 10 is provided with a rotating opening and closing cover 12, which is rotatably connected to the sampling tube 10; the outer side of the cover 12 is meshingly connected to the teeth of the inner wall of the sampling tube placing cylinder 8 through the teeth, so that the sampling tube placing cylinder 8 can drive the cover 12 to rotate when rotating, thereby controlling the opening and closing. An annular slope is also provided on the inner wall of the sampling tube placing cylinder 8 to assist the sampling tube 10 in being inserted into the sampling tube placing cylinder 8.

[0029] The placing tube driving structure is arranged inside the driving cavity 9 and connected to one end of the sampling tube placing cylinder 8 for driving the sampling tube placing cylinder 8 to rotate, thereby driving the cover 12 to rotate through meshing with the cover 12 and further controlling the opening and closing of the cover 12.

[0030] The placing tube driving structure comprises a moving ring 13, a driving piece 14 and a driving electric cylinder 15; the moving ring 13 is embedded in an annular slide in the side wall of the driving cavity 9 and can move along the axis of the driving cavity 9 in the annular slide.

[0031] A spiral-shaped through slot is formed in one end of the side wall of the annular slide, a plurality of connecting blocks are circumferentially arranged on the outer side of one end of the sampling tube placing cylinder 8 along the central axis, the connecting blocks slide through the spiral-shaped through slot of the annular slide and are embedded in the annular groove arranged at one end of the moving ring 13 to be slidably connected with the moving ring 13; a ring-shaped through slot is also formed in the other end of the side wall of the annular slide, and the side edge of the driving piece 14 is fixedly connected to the other end of the moving ring 13 through the ring-shaped through slot.

[0032] The output end of the driving electric cylinder 15 is fixedly connected to the driving piece 14, and the fixed end is fixedly connected to the side wall of the driving cavity 9 through a base. The driving electric cylinder 15 is electrically connected to the controller. The driving electric cylinder 15 can drive the moving ring 13 to move along the annular slide through the driving piece 14, thereby driving the sampling tube placing cylinder 8 to rotate along the spiral-shaped through slot and further driving the cover 12 to rotate and open and close.

[0033] The sampling tube driving structure is arranged inside the driving cavity 9 and connected to one end of the sampling tube 10 inserted into the inner end of the sampling tube placing cylinder 8 for driving the sampling tube 10 to move.

[0034] The sampling tube driving structure comprises a first driving motor 16, a fixed plate 17, a threaded rod 18, a light rod 19, a connecting plate 20 and a moving cylinder 21; the fixed plate 17 is fixedly arranged in the driving cavity 9; the first driving motor 16 is fixedly arranged on the side wall of the driving cavity 9 through a base; one end of the threaded rod 18 penetrates through the fixed plate 17 and is fixedly connected with the output end of the first driving motor 16, the other end penetrates through the connecting plate 20 and the moving cylinder 21 and extends into the moving cylinder 21, and is fixedly connected with a sliding block 22 in the moving cylinder 21; the sliding block is threadedly connected with the inner wall of the moving cylinder 21; one end of the moving cylinder 21 is fixedly connected with the connecting plate 20, and the other end abuts against one end of the sampling tube 10; one end of the light rod is fixedly connected with the fixed plate 17, and the other end penetrates through the connecting plate 20 and abuts against one end of the sampling tube 10. The first driving motor 16 drives the threaded rod 18 to rotate, thereby driving the moving cylinder 21 and the connecting plate 20 to move, and further driving the sampling tube 10 to move, so that the cover 12 of the sampling tube 10 is separated from the engagement with the inner side of the sampling tube placing cylinder 8, and the sampling tube 10 is pushed out of the sampling tube placing cylinder 8. The first driving motor 16 is electrically connected with the controller.

[0035] The sampling swab driving structure is arranged in the driving cavity 9 and connected with one end of the sampling swab 11, for clamping one end of the long rod of the sampling swab 11 and driving the long rod to move.

[0036] The sampling swab driving structure comprises a clamping assembly and a pushing-out assembly; the clamping assembly is used for clamping the long rod of the sampling swab 11, and the pushing-out assembly is used for extending the end of the sampling swab 11 with the sampling head out of the sampling tube 10. The pushing-out assembly comprises a rotating cylinder 23, a bearing block 24, a second driving motor 25 and two limiting rods 26; the rotating cylinder 23 is rotationally arranged in the driving cavity 9, one end is rotationally connected with a support plate arranged on the inner wall of the driving cavity 9, and the other end is connected with the output end of the second driving motor 25; the fixed end of the second driving motor 25 is fixedly connected with the side wall of the driving cavity 9; the bearing block 24 is rotationally arranged in the rotating cylinder 23 through threaded connection, and two groups of limiting rods 26 are fixedly connected with the side wall of the driving cavity 9 through the bearing block 24 and the rotating cylinder 23 at one end and fixedly connected with the support plate at the other end. The clamping assembly is arranged on the bearing block 24; the second driving motor 25 drives the rotating cylinder 23 to rotate, thereby making the bearing block 24 move along the limiting rods 26, and further driving the sampling swab 11 to move through the clamping assembly. The second driving motor 25 is electrically connected with the controller.

[0037] The clamping assembly comprises two sets of clamping jaws 27, two sets of moving blocks 28, two sets of connecting rods 29, a rotating rod 30 and a third driving motor 31; the third driving motor 31 is embedded in the bearing block 24, and the output end is fixedly connected to the middle part of the rotating rod 30; the two ends of the rotating rod 30 are respectively rotatably connected to one set of connecting rods 29, and the other end of the connecting rod 29 is rotatably connected to the moving block 28; one end of the clamping jaw 27 is fixedly connected to the moving block 28, and the other end is used for clamping the long rod of the sampling swab 11; the bearing block 24 is further provided with a groove embedded with the bottom of the moving block 28, which is used for sliding connection with the moving block 28; the third driving motor 31 drives the rotating rod 30 to rotate, thereby pulling the moving block 28 along the groove on the bearing block 24 through the connecting rod 29, so that the two sets of clamping jaws 27 are opened and closed to clamp the long rod of the sampling swab 11. The third driving motor 31 is electrically connected to the controller.

[0038] The image acquisition device comprises two sets of cameras and infrared detectors respectively arranged on both sides of the sampling assembly 2; the cameras and infrared detectors are electrically connected to the controller and installed on the fixed support 7; the infrared detector is used to detect the distance between the end of the sampling assembly 2 and the pig nose, so as to avoid the influence of too close or too far distance on data acquisition, and can adjust the position of the sampling mechanical arm in real time by detecting the movement of the pig nose, so as to adjust the deviation of the sampling assembly 2. The infrared detector is also used to detect the distance from the placement box of the sampling tube 10, so as to adjust the position of the sampling assembly 2. The two sets of cameras are located on both sides of the sampling assembly 2, which can transmit the collected image information to the controller for image integration, so as to avoid image distortion caused by angle deviation.

[0039] The image acquisition device can also be remotely connected to a computer, and a pig group information library can be established through the collected images, and a pig group archive can be established through comparison of images and recording of sampling numbers, and missing sampling or over-sampling can be avoided.

[0040] One side of the sampling table is provided with an L-shaped channel for passing a single pig, and the sampling table is arranged at the corner of the channel; one side of the corner of the channel is provided with an intercepting door for intercepting the pig at the corner. A sampling window is arranged on the side wall of the corner of the channel, so that the pig nose can extend into the sampling window; the sampling mechanical arm 1 controls the sampling assembly 2 to move to the front of the pig, and samples the pig nose located in the sampling window. The operator can also manually fix the pig nose entering the sampling window through tools or through pre-set mechanical clamps, so as to avoid excessive work and damage to the sampling mechanical arm 1 and the sampling assembly 2.

[0041] The sampling method of the present application is that the staff drives the pig to be sampled into the L-shaped channel, and samples the pig by using the sampling window at the corner position. The sampling mechanical arm 1 first controls the sampling assembly 2 to take out the sampling tube 10 carrying the sampling swab 11 from the sampling box, and the cover 12 at the end of the sampling tube 10 is connected with the sampling tube placing cylinder 8, and at the same time, the third driving motor 31 is started to clamp the long rod of the sampling swab 11; then the sampling mechanical arm 1 drives the sampling assembly 2 to move close to the pig's nose, the driving cylinder 15 is started to rotate the cover 12 to open the sampling tube 10, and the second driving motor 25 is started to drive the sampling swab 11 to push out of the sampling tube 10 to sample the deep part of the pig's nose. After sampling, the sampling mechanical arm 1 drives the sampling assembly 2 to move away from the pig's nose, the second driving motor 25 is started to retract the sampling head of the sampling swab 11 into the sampling tube 10, the third driving motor 31 is started to release the sampling swab 11, the driving cylinder 15 is started to rotate the cover 12 to close the sampling tube 10, and then the sampling mechanical arm 1 controls the sampling assembly 2 to move to the sampling box after sampling to place the sampling tube 10. The long rod of the sampling swab 11 protruding from the edge of the sampling tube 10 is also provided with a cutting groove, and when the sampling mechanical arm 1 controls the sampling assembly 2 to move away from the sampling tube 10, the protruding part of the long rod of the sampling swab 11 can be broken off from the cutting groove, so that the sampling tube 10 is more convenient to store. After sampling one pig, the sampling tube is replaced once, so that the sampling is independent to avoid sample mixing.

[0042] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

[0043] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sampling robot for early diagnosis of ASF in pig farming systems, characterized by: The invention comprises a sampling platform, a sampling mechanical arm (1), a sampling component (2) and a controller; the bottom of the sampling mechanical arm (1) is fixedly arranged on the sampling platform; the top of the sampling mechanical arm (1) is connected to the sampling component (2) and is used to drive the sampling component (2) to move and rotate; the controller is arranged on the sampling platform and is used to control the movement of the sampling mechanical arm (1) and the sampling component (2); the sampling mechanical arm (1) and the sampling component (2) are both electrically connected to the controller; and the invention also comprises an image acquisition device, which is arranged on the top of the sampling mechanical arm (1) and is used to acquire image information; the image acquisition device is electrically connected to the controller; The sampling assembly (2) comprises a sampling tube placement cylinder (8), a driving chamber (9), a sampling tube driving structure, a placement tube driving structure and a sampling swab driving structure; one end of the driving chamber (9) is fixedly connected to the sampling mechanical arm (1); one end of the sampling tube placement cylinder (8) is rotatably connected to the driving chamber (9); a sampling tube (10) is arranged inside the sampling tube placement cylinder (8); the sampling tube driving structure, the placement tube driving structure and the sampling swab driving structure are all arranged inside the driving chamber (9); the placement tube driving structure drives the sampling tube placement cylinder (8) to rotate; the sampling tube driving structure is used to drive the sampling tube (10) to move; and the sampling swab driving structure is used to clamp one end of the long rod of the sampling swab (11) and drive it to move.

2. The sampling robot for early diagnosis of ASF in a pig breeding system according to claim 1, characterized in that: The sampling mechanical arm (1) comprises a base (3), a rotating disk (4), a first connecting arm (5), a second connecting arm (6) and a fixed support (7); the bottom of the base (3) is fixedly connected to the sampling platform; the rotating disk (4) is rotatably connected to the top of the base (3); a first steering gear for driving the rotating disk (4) to rotate is provided inside the base (3); the bottom of the first connecting arm (5) is rotatably connected to the rotating disk (4), and a second steering gear is provided on one side of the rotating disk (4) for driving the first connecting arm (5) to swing vertically; The top of the first connecting arm (5) is rotatably connected to the bottom of the second connecting arm (6), and a third steering gear is provided inside the connection; the third steering gear is used to drive the second connecting arm (6) to swing vertically; the top of the second connecting arm (6) is rotatably connected to the bottom of the fixed support (7), and a fourth steering gear is provided inside the connection; the fourth steering gear is used to drive the fixed support (7) to swing vertically; the top of the fixed support (7) is fixedly connected to the sampling assembly (2); the first steering gear, the second steering gear, the third steering gear and the fourth steering gear are all electrically connected to the controller.

3. The sampling robot for early diagnosis of ASF in a pig breeding system according to claim 1, characterized in that: The outer end of the sampling tube (10) is rotatably provided with a cover body (12) that can be opened and closed; the outer side surface of the cover body (12) is engaged and connected with the sampling tube placement cylinder (8).

4. The sampling robot for early diagnosis of ASF in a pig breeding system according to claim 3, characterized in that: The placement tube driving structure includes a moving ring (13), a driving plate (14) and a driving electric cylinder (15); the moving ring (13) is embedded in the annular slide in the side wall of the driving cavity (9); a spiral groove is provided on the side wall of one end of the annular slide, and the sampling tube placement tube (8) is slidably connected to the moving ring (13) through a circumferentially arranged connecting block; the connecting block slides through the spiral groove of the annular slide and is slidably embedded in the annular groove arranged at one end of the moving ring (13); an annular groove is provided on the side wall of the other end of the annular slide, and the side edge of the driving plate (14) penetrates the annular groove and is fixedly connected to the other end of the moving ring (13); the output end of the driving electric cylinder (15) is fixedly connected to the driving plate (14), and the fixed end is fixedly connected to the side wall of the driving cavity (9); the driving electric cylinder (15) is electrically connected to the controller.

5. The sampling robot for early diagnosis of ASF in a pig breeding system according to claim 1, characterized in that: An annular slope is also provided on the inner wall of the sampling tube placement cylinder (8), and the auxiliary sampling tube (10) is inserted into the sampling tube placement cylinder (8).

6. The sampling robot for early diagnosis of ASF in a pig breeding system according to claim 1, characterized in that: The sampling tube driving structure comprises a first driving motor (16), a fixing plate (17), a threaded rod (18), a polished rod (19), a connecting plate (20) and a moving cylinder (21); the fixing plate (17) is fixedly arranged inside the driving chamber (9); the first driving motor (16) is fixedly arranged on the side wall of the driving chamber (9); one end of the threaded rod (18) passes through the fixing plate (17) and is fixedly connected to the output end of the first driving motor (16), and the other end passes through the connecting plate (20) and the moving cylinder (21) extends into the interior of the moving cylinder (21) and is fixedly connected to the slider (22) inside the moving cylinder (21); the outer side of the slider is threadedly connected to the inner wall of the moving cylinder (21); one end of the moving cylinder (21) is fixedly connected to the connecting plate (20), and the other end abuts against one end of the sampling tube (10); one end of the light rod is fixedly connected to the fixed plate (17), and the other end passes through the connecting plate (20) and abuts against one end of the sampling tube (10), and the first drive motor (16) is electrically connected to the controller.

7. The sampling robot for early diagnosis of ASF in a pig breeding system according to claim 1, characterized in that: The sampling swab driving structure includes a clamping assembly and an ejecting assembly; the ejecting assembly includes a rotating cylinder (23), a bearing block (24), a second driving motor (25) and two limiting rods (26); the rotating cylinder (23) is rotatably arranged in the driving cavity (9), one end of which is rotatably connected to the support plate on the inner wall of the driving cavity (9), and the other end is connected to the output end of the second driving motor (25); the fixed end of the second driving motor (25) is fixedly connected to the side wall of the driving cavity (9); the bearing block (24) is threadedly connected to the inside of the rotating cylinder (23), one end of the two groups of limiting rods (26) passes through the bearing block (24) and the rotating cylinder (23) and is fixedly connected to the side wall of the driving cavity (9), and the other end is fixedly connected to the supporting plate; the second driving motor (25) is electrically connected to the controller; the clamping assembly is arranged on the bearing block (24).

8. The sampling robot for early diagnosis of ASF in a pig breeding system according to claim 7, characterized in that: The clamping assembly comprises two groups of clamping jaws (27), two groups of moving blocks (28), two groups of connecting rods (29), a rotating rod (30) and a third driving motor (31); the third driving motor (31) is embedded in the bearing block (24), and the output end is fixedly connected to the middle of the rotating rod (30); the two ends of the rotating rod (30) are respectively rotatably connected to a group of connecting rods (29), and the other end of the connecting rod (29) is rotatably connected to the moving block (28); one end of the clamping jaw (27) is fixedly connected to the moving block (28), and the other end clamps the long rod of the sampling swab (11); the bearing block (24) is also provided with a groove, which is engaged and slidably connected with the bottom of the moving block (28); the third driving motor (31) is electrically connected to the controller.

9. The sampling robot for early diagnosis of ASF in a pig breeding system according to claim 1, characterized in that: The image acquisition device comprises two groups of cameras and infrared detectors respectively arranged on both sides of the sampling component (2); the cameras and infrared detectors are both electrically connected to the controller.

Images