Ear tag launching device, robot and method

Abstract

The invention provides an ear tag launching device, a robot and a method. The ear tag launching device comprises a shell, a launching mechanism arranged in the shell and capable of moving along the shell, and an elastic block rotationally connected to one end of the shell through a conversion block, and the conversion block is rotationally arranged in the shell; the elastic block is provided with a plurality of cartridges, and each cartridge is internally provided with an ear tag; a launching cylinder is arranged on the launching mechanism; when the launching mechanism moves in the direction away from the elastic block, the conversion block and the elastic block are shifted to rotate, so that the magazine is aligned with the launching cylinder, and the launching cylinder stores energy; when the launching mechanism moves in the direction close to the elastic block, energy of the launching cylinder is released to launch the ear tag. According to the invention, the mode of continuous operation is efficiently realized, and the working efficiency of ear tag marking is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment technology for animal husbandry, and in particular to an ear tag launching device, robot and method. Background Technology

[0002] In animal husbandry management, ear tagging of animals (such as pigs) is a crucial step for individual identification, disease prevention and control, and production line management. There are currently two main methods for ear tagging: (a) Manual ear tagging has the disadvantages of being labor-intensive, inefficient, and requiring operators to be in close contact with animals (such as pigs), which may pose safety hazards. (II) An animal tagging ear tag gun as disclosed in patent publication number CN101983559A is used. It includes a U-shaped ear tag holder and a firing pin sleeve. The U-shaped ear tag holder is fixed to the firing pin sleeve. The firing pin is connected to one end of a connecting rod. A firing pin return spring is fitted outside the connecting rod between the two. The connecting rod is connected to a pull rod. A launching spring is fitted outside the pull rod between the two. The firing pin, return spring, connecting rod, launching spring, and pull rod are fitted inside the firing pin sleeve. The firing pin sleeve has a pull pin displacement groove. A pull pin is connected to the pull rod through the pull pin displacement groove. A positioning groove is radially provided on the outer edge of the other end of the connecting rod. A positioning device is fitted outside the firing pin sleeve in cooperation with the positioning groove. A starting device controls the activation of the positioning device, thus constituting the animal ear tag gun. However, it can only fire a single tag. After firing one ear tag, it needs to be reloaded, resulting in low efficiency and failing to meet the needs of large-scale farms for continuous and efficient ear tag application. Summary of the Invention

[0003] The purpose of this invention is to provide an ear tag launching device, robot, and method that can achieve continuous launching and automatic reloading, thereby improving efficiency.

[0004] The first technical solution of the present invention is: an ear tag launching device, comprising a housing, a launching mechanism disposed within the housing and movable along the housing, and a bullet block rotatably connected to one end of the housing via a conversion block, the conversion block being rotatably disposed within the housing; the bullet block is provided with multiple bullet chambers, each of which is equipped with an ear tag; the launching mechanism is provided with a launching tube; When the launching mechanism moves away from the projectile, it actuates the conversion block and the projectile to rotate, aligning the magazine with the launching tube and storing energy in the launching tube; when the launching mechanism moves closer to the projectile, it releases the energy of the launching tube to launch the ear tag.

[0005] The second technical solution of the present invention is: an ear tag launching device, comprising a housing, a launching mechanism disposed within the housing and movable along the housing, and a spring block rotatably connected to one end of the housing via a conversion block, the conversion block being rotatably disposed within the housing; the spring block being provided with a plurality of cartridges for mounting ear tags; and the launching mechanism being provided with a launching tube; When the launching mechanism moves away from the projectile, it actuates the conversion block and the projectile to rotate, aligning the magazine with the launching tube and storing energy in the launching tube; when the launching mechanism moves closer to the projectile, it releases the energy from the launching tube.

[0006] In the above scheme, a projectile with multiple magazines is used, and a reciprocating launching mechanism is designed. When the launching mechanism moves forward, the ear tag is launched, and when the launching mechanism moves backward, the next magazine is aligned with the launching tube. This efficiently realizes a continuous operation method and greatly improves the work efficiency of ear tag firing.

[0007] Preferably, the launching mechanism includes a piston rod and a drive source mounted on the housing. One end of the piston rod is provided with a piston that reciprocates in the launching tube, and the other end of the piston rod is connected to a lever for rotating the conversion block via a connecting rod. The drive source is drivenly connected to the piston rod.

[0008] Preferably, a spring is provided between the piston and the side wall of the launch tube to accelerate the release of energy inside the launch tube.

[0009] Preferably, the drive source includes a servo motor mounted on the housing and a gear driven by the servo motor, and the piston rod is provided with teeth that mesh with the gear.

[0010] Preferably, the end of the launch tube facing the projectile is the launch port, and the diameter of the launch tube gradually decreases towards the launch port.

[0011] Preferably, the circumferential surface of the conversion block is provided with a plurality of spaced first blocks and second blocks, and a first groove is formed between two adjacent first blocks. The first blocks and second blocks are aligned one by one along the axial direction of the conversion block and spaced apart to form a second groove. A third block is provided in the first groove, and the third block is positioned close to the second block. When the launching mechanism slides into the conversion block from the first groove, it enters the second groove under the guidance of the third block and then slides into the next first groove, so that the next magazine is aligned with the launching tube.

[0012] Preferably, the end of the launching mechanism is provided with a ball bearing that rotates the conversion block in a rolling manner.

[0013] Preferably, the outer casing is provided with a first fixed support for installing the launch tube and a second fixed support for installing the conversion block. The second fixed support is provided with a slot extending along the displacement direction of the launching mechanism. When one end of the launching mechanism is inserted into the slot, the magazine is aligned with the launch tube.

[0014] The present invention also provides a robot, including at least one robotic arm, the end of which is equipped with the ear tag launching device described above.

[0015] The present invention also provides a method for applying ear tags using the above-mentioned robot, comprising: In the initial position, the magazine containing the ear tag is aligned with the launch tube; the launch mechanism is activated, driving it to accelerate towards the bullet, releasing the stored energy in the launch tube to launch the ear tag. The launching mechanism is restarted and moved in the reverse direction. During the movement, the conversion block is rotated to align the next magazine with the ear tag with the launch tube. Repeat the above steps until all ear tags in all magazines have been fired, and then install ear tags in each magazine one by one. Repeat the above steps until completion.

[0016] Compared with related technologies, the beneficial effects of the present invention are as follows: I. This invention uses a projectile with multiple magazines and a reciprocating launching mechanism. When the launching mechanism moves forward, it launches the ear tag. When the launching mechanism moves backward, it aligns the next magazine with the launching tube. This efficiently achieves continuous operation, greatly improves the efficiency of ear tag firing, and is more suitable for use in large-scale farms. Second, the method of achieving magazine alignment in this invention is to design a curved slide block for the conversion block. When the launching mechanism retracts, the conversion block can be quickly rotated along the curved slide block, so that the next ear tag immediately enters the ready-to-fire state, thus improving the efficiency of ear tag firing. Third, the present invention provides a spring inside the launching tube. When the launching mechanism retracts, the spring is compressed to store energy and to store air in the launching tube. When the launching mechanism is in the accelerated launching motion, the spring can accelerate the release of stored energy and compress the air, so that the ear tag is launched quickly and accurately hits the required position. Fourth, the diameter of the launching tube of the present invention gradually decreases towards the launching port. The small-diameter launching port can accelerate the energy storage and release speed and force, making the ear tag more stable after it is fired. 5. The lever on the launching mechanism moves the conversion block in a rolling motion, making it smoother and preventing jamming; VI. The ear tag launching device of the present invention can be integrated into a robot, enabling unmanned and intelligent ear tag marking operations, reducing safety hazards from contact between humans and animals, and has broad market application scenarios. Attached Figure Description

[0017] Figure 1 A first-view perspective schematic diagram of the ear tag launching device provided by the present invention; Figure 2 A three-dimensional second-view schematic diagram of the ear tag launching device provided by the present invention; Figure 3 A cross-sectional schematic diagram showing the rearward movement of the launching mechanism of the ear tag launching device provided by the present invention; Figure 4 A cross-sectional schematic diagram showing the forward movement of the launching mechanism of the ear tag launching device provided by the present invention; Figure 5 This is a schematic diagram of the installation structure of the conversion block, lever, ball bearings, and mounting base; Figure 6 This is a schematic diagram of the conversion block.

[0018] In the attached diagram: 1. Outer shell; 11. Side plate; 12. Base plate; 13. Mounting base; 14. First fixed support; 15. Second fixed support; 151. Slot; 16. Bracket; 17. Third fixed support; 2. Launching mechanism; 21. Launch tube; 211. Launch port; 22. Piston rod; 221. Gear tooth; 23. Piston; 24. Connecting rod; 25. Lever; 26. Drive source; 261. Servo motor; 262. Gear; 27. Spring; 28. Ball bearing; 3. Converter block; 31. First stop block; 32. Second stop block; 33. Third stop block; 34. First slide groove; 35. Second slide groove; 36. Shaft; 4. Spring block; 41. Magazine; 42. Ear tag; 5. Control module; 51. Circuit board; 52. Power supply module; 53. Signal interface; 6. Infrared laser emitter. Detailed Implementation

[0019] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. For ease of description, the terms "upper," "lower," "left," and "right" used below only indicate that they correspond to the upper, lower, left, and right directions in the accompanying drawings and do not limit the structure.

[0020] like Figure 1 , Figure 2 As shown, the ear tag launching device provided in this embodiment includes a housing 1, a launching mechanism 2, a conversion block 3, a spring block 4, and a control module 5.

[0021] The outer casing 1 includes two spaced-apart side plates 11, a base plate 12 connected to the bottom of the two side plates 11, and a mounting base 13 connected to one end of the two side plates 11. The outer casing 1 contains a first fixed support 14 and a second fixed support 15. The first fixed support 14 and the second fixed support 15 are arranged front to back and respectively connected between the two side plates 11, with the first fixed support 14 positioned close to the mounting base 13.

[0022] like Figure 3 The launching mechanism 2 includes a launching tube 21, a piston rod 22, a piston 23, a connecting rod 24, a lever 25, a drive source 26, and a spring 27.

[0023] The launch tube 21 is installed through the first fixed support 14. The end of the launch tube 21 facing the projectile 4 is the launch port 211, and the diameter of the launch tube 21 gradually decreases towards the launch port 211.

[0024] One end of the piston rod 22 is equipped with a piston 23 that reciprocates within the launching tube 21, and the other end of the piston rod 22 is connected via a connecting rod 24 to a lever 25 for rotating the conversion block 3. The piston 23 reciprocates within the launching tube 21. The piston 23, piston rod 22, connecting rod 24, and lever 25 are an integral structure. A ball bearing 28 is rotatably connected to the end of the lever 25. The drive source 26 is driven by the piston rod 22.

[0025] A spring 27 is provided between the piston 23 and the side wall of the launch tube 21 to accelerate the release of energy inside the launch tube 21. The spring 27 is fitted onto the piston rod 22.

[0026] The drive source 26 includes a servo motor 261 mounted on the housing 1 and a gear 262 driven by the servo motor 261. The gear 262 is a sector gear, which simplifies the machining workload and difficulty of the gear 262 while ensuring that the piston rod 22 has sufficient travel. The piston rod 22 is provided with gear teeth 221 that mesh with the gear 262. The servo motor 261 is mounted on the inner wall of one of the side plates 11.

[0027] like Figure 3 As shown, one end of the conversion block 3 is integrally connected to a shaft 36, which is rotatably mounted in the second fixed support 15 via a bearing (not shown).

[0028] like Figure 3 As shown, the outer shell 1 is also provided with a third fixed support 17 for guiding the displacement of the launching mechanism 2. The third fixed support 17 is U-shaped, and its bottom is connected to the base plate 12. The inner cavity of the U-shape is for the piston rod 22, the connecting rod 24 and the lever 25 to pass through.

[0029] like Figure 6 As shown, multiple first blocks 31 and second blocks 32 are arranged at intervals on the circumferential surface. A first groove 34 is formed between two adjacent first blocks 31. The first blocks 31 and second blocks 32 are aligned one by one in the axial direction of the conversion block 3 and are arranged at intervals to form a second groove 35. A third block 33 is provided in the first groove 34. The third block 33 is arranged close to the second block 32.

[0030] like Figure 5 As shown, the second fixed support 15 is provided with a slot 151 extending along the displacement direction of the launching mechanism 2. When the launching mechanism 2 retracts, when the lever 25 slides from the first slide groove 34 into the conversion block 3, under the guidance of the third stop block 33 and in combination with the rolling action of the ball 28, the ball 28 enters the second slide groove 35 and then slides into the next first slide groove 34, so that the next magazine 41 is aligned with the launching tube 21. At this time, the lever 25 enters the slot 151 to lock.

[0031] When the launching mechanism 2 moves away from the projectile block 4, the shifting block 3 and the projectile block 4 rotate to align the magazine 41 with the launching tube 21, and allow the launching tube 21 to store energy (such as... Figure 3 , Figure 5 As shown). When the launching mechanism moves closer to the projectile 4, it releases the energy of the launching tube 21 to launch the ear tag 42 (as shown). Figure 4 (As shown).

[0032] like Figure 1 As shown, the bullet block 4 has multiple bullet compartments 41 arranged in a circular pattern, and each bullet compartment 41 contains an ear tag 42 to be launched. One end of the shaft 36 is connected to the conversion block 3, and the other end of the shaft 36 is connected to the bullet block 4, so that the rotation of the conversion block 3 can be transmitted to the bullet block 4 through the shaft 36, driving the bullet block 4 to rotate together with the conversion block 3.

[0033] The control module 5 includes a circuit board 51, a power supply module 52, and a signal interface 53 that are electrically connected to each other.

[0034] In a second embodiment, an infrared laser emitter 6 may also be provided for aiming at a target. The infrared laser emitter 6 is mounted on the front end of the bullet block 4 via a bracket 16. The bracket 16 is connected to the side plate 11.

[0035] The present invention also provides a robot comprising at least one robotic arm, the end of which is equipped with the aforementioned ear tag launching device. The end of the robotic arm is connected to a mounting base 13.

[0036] The circuit board 51 receives task commands from the robot's main control system and controls the servo motor 261 to perform continuous firing actions. The power supply module 52 can be a rechargeable lithium battery to provide power to the control module 5. The signal interface 53 is connected to the robotic arm communication module to achieve data and motion synchronization.

[0037] The present invention also provides a method for applying ear tags using a robot, comprising: S1, in the initial position, the magazine 41 with the ear tag 42 is aligned with the launch tube 21. At this time, the spring 27 is compressed and air is contained in the launch tube 21. S2, the robot control system sends a command to the servo motor 261 through the control interface module. The servo motor 261 rotates, driving the piston rod 22 to move forward. The spring 27 quickly rebounds to release the stored energy. When the piston 23 moves the launch tube 21, it pushes the air to form a high-pressure gas. When it is launched from the launch port 211, it generates acceleration, driving the ear tag 42 in the magazine 41 to be launched and hit the animal's ear. At this time, one end of the lever 25 with the ball bearing 28 is placed in the slot 151. S3, drive the servo motor 261 to rotate in the opposite direction, causing the piston rod 22 to move sequentially. The lever 25 and the rolling ball 28 retract from the slot 151 and enter the second slot 35 along the first slot 34. Under the guidance of the third stop block 33, they quickly slide into the next first slot 34. This process drives the conversion block 3 to rotate one magazine position, so that the next magazine 41 with the ear tag 42 is aligned with the launch tube 21. S4. Repeat the above steps until all the ear tags 42 in all the magazines 41 have been fired, and then install the ear tags 42 one by one in each magazine 41. S5. Repeat the above steps until completion.

[0038] This invention uses a robot control system to issue action commands to control the rotation angle, speed, and firing rhythm of the servo motor, thereby achieving multiple, continuous, and automated ear tag marking operations. The mounting base 13 is connected to the robotic arm by bolts, enabling it to be compatible with different robot models.

[0039] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An ear tag emitting device, characterized in that, The device includes a housing (1), a launching mechanism (2) located inside the housing (1) and movable along the housing (1), and a projectile block (4) rotatably connected to one end of the housing (1) via a conversion block (3), the conversion block (3) being rotatably located inside the housing (1); the projectile block (4) is provided with multiple magazines (41), each magazine (41) containing an ear tag (42); the launching mechanism (2) is provided with a launching tube (21); When the launching mechanism (2) moves away from the bullet block (4), it rotates the switching block (3) and the bullet block (4) to align the magazine (41) with the launching tube (21) and store energy in the launching tube (21); when the launching mechanism (2) moves closer to the bullet block (4), it releases the energy of the launching tube (21) to launch the ear tag (42).

2. An ear tag emitting device, characterized in that, The device includes a housing (1), a launching mechanism (2) located inside the housing (1) and movable along the housing (1), and a bullet block (4) rotatably connected to one end of the housing (1) via a conversion block (3), the conversion block (3) being rotatably located inside the housing (1); the bullet block (4) is provided with multiple magazines (41) for mounting ear tags (42); the launching mechanism (2) is provided with a launching tube (21); When the launching mechanism (2) moves away from the bullet block (4), it rotates the switching block (3) and the bullet block (4) to align the magazine (41) with the launching tube (21) and store energy in the launching tube (21); when the launching mechanism (2) moves closer to the bullet block (4), it releases the energy of the launching tube (21).

3. The ear tag launching device according to claim 1 or 2, characterized in that, The launching mechanism (2) includes a piston rod (22) and a drive source (26) mounted on the housing (1). One end of the piston rod (22) is provided with a piston (23) that reciprocates in the launching tube (21). The other end of the piston rod (22) is connected to a lever (25) for rotating the conversion block (3) via a connecting rod (24). The drive source (26) is driven to connect with the piston rod (22).

4. The ear tag launching device according to claim 3, characterized in that, A spring (27) is provided between the piston (23) and the side wall of the launch tube (21) to accelerate the release of energy inside the launch tube (21).

5. The ear tag launching device according to claim 3, characterized in that, The drive source (26) includes a servo motor (261) mounted on the housing (1) and a gear (262) driven by the servo motor (261). The piston rod (22) is provided with gear teeth (221) that mesh with the gear (262).

6. The ear tag launching device according to claim 1 or 2, characterized in that, The end of the launch tube (21) facing the bullet block (4) is the launch port (211), and the diameter of the launch tube (21) gradually decreases towards the launch port (211).

7. The ear tag emitting device according to claim 1 or 2, characterized in that, The circumferential surface of the conversion block (3) is provided with a plurality of first blocks (31) and second blocks (32) spaced apart. A first groove (34) is formed between two adjacent first blocks (31). The first blocks (31) and second blocks (32) are aligned one by one in the axial direction of the conversion block (3) and spaced apart to form a second groove (35). A third block (33) is provided in the first groove (34). The third block (33) is set close to the second block (32). When the launching mechanism (2) slides into the conversion block (3) from the first groove (34), under the guidance of the third block (33), it enters the second groove (35) and then slides into the next first groove (34), so that the next magazine (41) is aligned with the launching tube (21).

8. The ear tag launching device according to claim 1 or 2, characterized in that, The outer casing (1) is provided with a first fixed support (14) for installing the launch tube (21) and a second fixed support (15) for installing the conversion block (3). The second fixed support (15) is provided with a slot (151) extending along the displacement direction of the launch mechanism (2). When one end of the launch mechanism (2) is inserted into the slot (151), the magazine (41) is aligned with the launch tube (21).

9. A robot comprising at least one robotic arm, characterized in that, The end of the robotic arm is equipped with an ear tag launching device as described in any one of claims 1-8.

10. A method for applying ear tags using the robot as described in claim 9, characterized in that: include: In the initial position, the magazine (41) with the ear tag (42) is aligned with the launch tube (21); Start the launching mechanism (2), drive the launching mechanism (2) to accelerate towards the projectile (4), release the stored energy in the launching tube (21) to make the ear tag (42) be launched; Restart the firing mechanism (2) and move in the opposite direction. During the movement, rotate the conversion block (3) so that the next magazine (41) with the ear tag (42) is aligned with the firing tube (21). Repeat the above steps until all ear tags (42) in all magazines (41) have been fired, and then install ear tags (42) in each magazine (41) one by one. Repeat the above steps until completion.

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