System for realizing automatic quantitative feeding and cage cleaning in animal laboratory

Abstract

The invention relates to a system for realizing automatic quantitative feeding and cage cleaning in an animal laboratory, which comprises a material distributing device, a composite feeding system, two composite feeding robots and a composite cleaning robot system, and is characterized in that the material distributing device is arranged in a clean area and is used for quantitatively sub-packaging various foods into material cups according to a set weight and loading the foods on a material rack; the composite feeding system is installed in a polluted area and used for transferring a material frame and feeding animal cages located in the polluted area, and the composite cleaning robot system is installed in the polluted area and used for recognizing stains in the animal cages and conducting fixed-point washing and has an automatic water supplementing function. The system for achieving automatic quantitative feeding and cage cleaning in the animal laboratory has the advantages of being capable of adapting to classification of various foods with different weights, flexible, adjustable, capable of adapting to feeding with different requirements and different sequences, capable of isolating a clean area from a polluted area, capable of being matched with vision to wash the cage and the like, the feeding accuracy can be improved, and the feeding efficiency is improved. Pollution is prevented, labor is reduced, and efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of automated animal husbandry, and more particularly to the field of animal feeding, specifically a system for automated quantitative feeding and cage cleaning in animal laboratories. Background Technology

[0002] This animal laboratory's automated quantitative feeding and cage cleaning system is something that, in the industry, feeding is almost always done manually.

[0003] In conventional animal husbandry, quantitative feeding is usually only suitable for feeding a single type of food in fixed quantities. Furthermore, the feeding equipment is fixed to a specific area of ​​each cage or on a track within that area and lacks flexibility, making it impossible to customize feeding.

[0004] Household quantitative feeding is usually only suitable for feeding one type of food at fixed times and in fixed quantities. It is also fixed and cannot be moved, with small storage capacity and great limitations. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a system for automatic quantitative feeding and cage cleaning in animal laboratories that meets the requirements of preventing pollution, high accuracy, and wide applicability.

[0006] To achieve the above objectives, the present invention provides a system for automated quantitative feeding and cage cleaning in animal laboratories, as follows: This system for automated quantitative feeding and cage cleaning in animal laboratories is characterized by the following features: The system includes a feeding device, a compound feeding system, two compound feeding robots, and a compound cleaning robot system. The feeding device, installed in the clean area, dispenses various foods into feed cups according to a set weight and loads them onto feed racks. The compound feeding system, installed in the contaminated area, transfers feed racks and feeds animal cages located in the contaminated area. One of the two compound feeding robots is installed at the feeding device in the clean area, transferring a full feed rack from the feeding device to a transfer lifting and positioning mechanism at the boundary between the clean and contaminated areas. The other compound feeding robot is installed at the compound feeding system in the contaminated area, removing a full feed rack from the transfer lifting and positioning mechanism and transporting it to the animal cages for feeding. The compound cleaning robot system, installed in the contaminated area, identifies stains in the animal cages and performs targeted rinsing, and has an automatic water replenishment function.

[0007] Preferably, the material sorting equipment includes a material rack, a feeding lifting and positioning mechanism, a discharging lifting and positioning mechanism, a weighing device, a conveyor belt, and a material handling robot. The feeding lifting and positioning mechanisms are located on both sides of the material handling robot and are used to carry and position the material rack containing empty or full cups. The feeding lifting and positioning mechanisms are located upstream and downstream of the conveyor belt. The weighing device is installed near the conveyor belt. The conveyor belt is used to receive empty cups placed by the material handling robot and transport the empty cups to the weighing device. The weighing device is used to quantitatively weigh the food according to a preset weight and fill it into the empty cups that arrive at its workstation. The material handling robot picks up empty cups from the material rack located on the feeding lifting and positioning mechanism and places them on the conveyor belt, and picks up full cups filled with food from the end of the conveyor belt and places them in the material rack located on the discharging lifting and positioning mechanism.

[0008] Preferably, the weighing device is a linear scale or a multi-head scale, and the type or type is selected or changed according to the physical characteristics of the food to be packaged.

[0009] Preferably, the composite feeding system includes animal cages, feeding bowls, feeding inlets, and a transfer lifting and positioning mechanism. The feeding inlets are located on the animal cages, the feeding bowls are located inside the animal cages, and multiple animal cages are arranged in the contaminated area. The transfer lifting and positioning mechanism is located at the boundary between the clean area and the contaminated area. The composite feeding robot in the clean area moves from the feeding device with a full-load feed rack to the transfer lifting and positioning mechanism and lowers the feed rack. The composite feeding robot in the contaminated area moves to the transfer lifting and positioning mechanism and drags away the full-load feed rack for feeding. The transfer lifting and positioning mechanism is used to achieve physical isolation between the clean area and the contaminated area.

[0010] Preferably, the composite feeding robot includes a feeding collaborative robot, a 3D vision positioning device, an electric gripper, a feeding mobile chassis, and a feed rack. The feeding collaborative robot is mounted on the feeding mobile chassis, and the electric gripper and the 3D vision positioning device are mounted at the end of the feeding collaborative robot. The 3D vision positioning device is used to identify and locate the feeding port on the animal cage, and the electric gripper is used to grab the feed cup and put the food into the feeding bowl through the feeding port.

[0011] Preferably, the composite cleaning robot system includes a composite cleaning robot, a water tank, a water tank lifting and positioning mechanism, a water tap, and an electronic valve. The composite cleaning robot and the water tank are designed separately. The water tank lifting and positioning mechanism is located below the water tap in the contaminated area. The electronic valve controls the opening and closing of the water tap. The composite cleaning robot automatically replenishes water by placing an empty water tank on the water tank lifting and positioning mechanism and removes a full water tank from the water tank lifting and positioning mechanism.

[0012] Preferably, the composite cleaning robot includes a cleaning mobile chassis, a cleaning collaborative robot, a visual positioning device, and an automatic water gun. The cleaning collaborative robot is mounted on the cleaning mobile chassis, and the visual positioning device and the automatic water gun are mounted at the end of the cleaning collaborative robot. The visual positioning device is used to identify stains in the animal cage and guide the automatic water gun to perform targeted rinsing.

[0013] The system for automated quantitative feeding and cage cleaning in animal laboratories, which adopts the present invention, has the characteristics of being able to adapt to the classification of various foods of different weights, being flexible and adjustable, being able to adapt to different requirements and different feeding sequences, isolating clean areas and contaminated areas, and using vision to clean cages. It consists of a feeding device, a composite feeding system, and a composite cleaning robot system, which can improve the accuracy of feeding, prevent contamination, reduce manual labor, and improve efficiency. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the system for automatically feeding and cleaning cages in animal laboratories according to the present invention.

[0015] Figure 2 This is a schematic diagram of the feeding device 1 of the system for realizing automatic quantitative feeding and cage cleaning in animal laboratories according to the present invention.

[0016] Figure 3 This is a schematic diagram of the composite feeding robot of the present invention, which realizes automatic quantitative feeding and cage cleaning in animal laboratories.

[0017] Figure 4 This is a schematic diagram of the composite feeding system of the present invention, which realizes automatic quantitative feeding and cage cleaning in animal laboratories.

[0018] Figure 5 This is a schematic diagram of the composite cleaning robot system of the present invention, which realizes automatic quantitative feeding and cage cleaning in animal laboratories.

[0019] Figure label: 1. Material sorting equipment 2. Composite feeding system 3 Composite Cleaning Robot System 101 Composite Feeding Robot 102 Material Rack 103 Feeding Lifting and Positioning Mechanism 104 material feeding and positioning mechanism 105 linear symmetry 106 transmission belt 107 collaborative loading and unloading robot 1011 Feeding Collaborative Robot 10123D Visual Positioning Device 1013 Electric Gripper 1014 Feeding Mobile Chassis 201 Animal Cage 202 food bowls 203 feeding port 204 transfer station upgrade positioning mechanism 301 Composite Cleaning Robot 302 water tank 303 Water Tank Lifting and Positioning Mechanism 304 water tap 305 electronic valve 3011 Cleaning Mobile Chassis 3012 Cleaning Collaborative Robot 3013 Automatic Water Gun 3014 Visual Positioning Detailed Implementation

[0020] To more clearly describe the technical content of the present invention, the following description is provided in conjunction with specific embodiments.

[0021] The present invention discloses a system for automated quantitative feeding and cage cleaning in animal laboratories, comprising a feeding device 1, a compound feeding system 2, two compound feeding robots 101, and a compound cleaning robot system 3. The feeding device 1 is installed in the clean area and is used to quantitatively dispense various foods into feeding cups according to a set weight and load them onto feeding racks. The compound feeding system 2 is installed in the contaminated area and is used to transfer feeding racks and feed animal cages 201 located in the contaminated area. One of the two compound feeding robots 101 is installed at the feeding device 1 in the clean area and is used to transfer a fully loaded feeding rack from the feeding device 1 to a transfer lifting and positioning mechanism 204 at the boundary between the clean and contaminated areas. The other compound feeding robot 101 is installed at the compound feeding system 2 in the contaminated area and is used to remove a fully loaded feeding rack from the transfer lifting and positioning mechanism 204 and transport it to the animal cages 201 for feeding. The compound cleaning robot system 3 is installed in the contaminated area and is used to identify stains inside the animal cages 201 and perform targeted rinsing, and has an automatic water replenishment function.

[0022] In a preferred embodiment of the present invention, the material sorting device 1 includes a material rack 102, a feeding lifting and positioning mechanism 103, a discharging lifting and positioning mechanism 104, a weighing device, a conveyor belt 106, and a material handling robot 107. The feeding lifting and positioning mechanism 103 and the discharging lifting and positioning mechanism 104 are located on both sides of the material handling robot 107 and are used to support and position the material rack containing empty or full cups. The feeding lifting and positioning mechanism 103 and the discharging lifting and positioning mechanism 104 are arranged upstream and downstream of the conveyor belt 106, and the weighing device is installed on the conveyor belt 106. Near 06, the conveyor belt 106 is used to receive empty cups placed by the loading and unloading cooperative robot 107 and transport the empty cups to the weighing device. The weighing device is used to quantitatively weigh the food according to a preset weight and put it into the empty cups that arrive at its work station. The loading and unloading cooperative robot 107 grabs the empty cups from the rack 102 located on the loading lifting and positioning mechanism 103 and places them on the conveyor belt 106. It also grabs the full cups filled with food from the end of the conveyor belt 106 and places them in the rack 102 located on the unloading lifting and positioning mechanism 104.

[0023] In a preferred embodiment of the present invention, the weighing device is a linear scale 105 or a multi-head scale, which is selected or replaced according to the physical characteristics of the food to be packaged.

[0024] In a preferred embodiment of the present invention, the composite feeding system 2 includes an animal cage 201, a feeding bowl 202, a feeding port 203, and a transfer lifting and positioning mechanism 204. The feeding port 203 is located on the animal cage 201, and the feeding bowl 202 is located inside the animal cage 201. Multiple animal cages 201 are arranged in the contaminated area. The transfer lifting and positioning mechanism 204 is located at the boundary between the clean area and the contaminated area. The composite feeding robot 101 in the clean area moves from the feeding device 1 with a full-load feed rack 102 to the transfer lifting and positioning mechanism 204 and lowers the feed rack 102. The composite feeding robot 101 in the contaminated area moves to the transfer lifting and positioning mechanism 204 and drags away the full-load feed rack 102 for feeding. The transfer lifting and positioning mechanism is used to achieve physical isolation between the clean area and the contaminated area.

[0025] In a preferred embodiment of the present invention, the composite feeding robot 101 includes a feeding cooperative robot, a 3D vision positioning device, an electric gripper, a feeding mobile chassis, and a feed rack 102. The feeding cooperative robot is mounted on the feeding mobile chassis, and the electric gripper and the 3D vision positioning device are mounted at the end of the feeding cooperative robot. The 3D vision positioning device is used to identify and locate the position of the feeding port 203 on the animal cage 201, and the electric gripper is used to grab the feed cup and put the food into the feeding bowl 202 through the feeding port 203.

[0026] In a preferred embodiment of the present invention, the composite cleaning robot system 3 includes a composite cleaning robot 301, a water tank 302, a water tank lifting and positioning mechanism 303, a water tap 304, and an electronic valve 305. The composite cleaning robot 301 and the water tank 302 are designed separately. The water tank lifting and positioning mechanism 303 is located below the water tap 304 in the contaminated area. The electronic valve 305 controls the opening and closing of the water tap 304. The composite cleaning robot 301 automatically replenishes water by placing an empty water tank 302 on the water tank lifting and positioning mechanism 303 and removes a full water tank 302 from the water tank lifting and positioning mechanism 303.

[0027] In a preferred embodiment of the present invention, the composite cleaning robot 301 includes a cleaning mobile chassis, a cleaning collaborative robot, a visual positioning device, and an automatic water gun. The cleaning collaborative robot is mounted on the cleaning mobile chassis, and the visual positioning device and the automatic water gun are mounted at the end of the cleaning collaborative robot. The visual positioning device is used to identify stains inside the animal cage 201 and guide the automatic water gun to perform targeted rinsing.

[0028] In the field of automated animal husbandry, this invention mainly involves a fully automated solution integrating automatic quantitative feeding and cage cleaning in animal laboratories. This invention, an automatic quantitative feeding and cage cleaning system for animal laboratories, is primarily designed for animal feeding within cleanrooms in laboratories. Its main characteristics are: 1. Diverse species: Laboratories raise different species and sizes of animals for various experiments, requiring the system to adapt to various foods and weight categories; 2. Large numbers: Unlike home husbandry, laboratories raise a certain number of each type of experimental animal for control or sample quantity purposes; 3. To prevent the spread of viruses and bacteria, animal laboratories need to separate clean and contaminated areas; 4. Significant variations in animal feeding practices: feeding plans may need to be modified according to experimental requirements; 5. High requirements for animal cleaning in animal laboratories: soiled areas need to be rinsed with water at designated points.

[0029] This invention involves fabricating a food dispensing device 1 in a clean area to pre-classify and quantitatively package food; allowing a composite feeding robot 101 to operate in the clean area while another composite feeding robot 101 remains in the contaminated area to prevent cross-contamination; feeding is performed through a composite feeding system 2, which allows for setting feeding routes, feeding times, quantities, types, etc., with a high degree of customization; the food dispensing device 1 can accommodate the dispensing of various foods; the composite cleaning robot 301 needs to automatically replenish its water tank 302; and the composite robot needs to locate stains and then perform targeted rinsing.

[0030] In a specific embodiment of the present invention, the automatic quantitative feeding and cage cleaning system for animal laboratories consists of a feeding device 1, a compound feeding system 2, and a compound cleaning robot system 3.

[0031] The feeding equipment 1 is located in the clean area, while the animal cages 201 and animal rooms are located in the contaminated area. Two composite feeding robots 101 are installed. One robot is responsible for transferring the feed from the feeding equipment 1 to the transfer lifting and positioning mechanism 204 at the edge of the contaminated area, and the other robot is responsible for transferring and feeding the feed from the transfer lifting and positioning mechanism 204 to the animal room. The transfer lifting and positioning mechanism 204 is used to isolate the two areas.

[0032] The material sorting equipment 1 consists of a material rack 102, a feeding lifting and positioning mechanism 103, a discharging lifting and positioning mechanism 104, a linear scale 105, a conveyor belt 106, and a material loading and unloading cooperative robot 107.

[0033] The loading and unloading lifting and positioning mechanism 103 and the unloading and unloading lifting and positioning mechanism 104 are located on both sides of the loading and unloading collaborative robot 107, enabling the arm span of the loading and unloading collaborative robot 107 to cover the entire area of ​​the material rack 102. The material rack 102 is transferred by the composite feeding robot 101 to the loading and unloading lifting and positioning mechanism 103 to lower the material rack 102, and then the fully loaded material rack 102 is dragged away from the unloading lifting and positioning mechanism 104. The loading and unloading collaborative robot 107 picks up empty cups from the material rack 102 on the loading lifting mechanism and places them on the conveyor belt 106. The conveyor belt 106 can buffer multiple cups. The cups are transported along the conveyor belt 106 to the linear scale 105. The linear scale 105 weighs a certain amount of food according to the system settings and puts it into the cups. The loading and unloading collaborative robot 107 picks up full cups at the end of the conveyor belt 106 and places them on the empty material rack 102 on the unloading lifting and positioning mechanism.

[0034] The composite feeding system 2 consists of an animal cage 201, a feeding bowl 202, a feeding port 203, and a transfer lifting and positioning mechanism 204. The composite feeding robot 101 consists of a feeding collaborative robot, a 3D vision positioning system, an electric gripper, a feeding mobile chassis, and a feed rack 102.

[0035] The composite feeding robot 101 is equipped with 3D vision positioning. It stops before reaching the feeding port 203. The position of the feeding port 203 is located by 3D vision positioning. Then, the electric gripper grabs the feed cup and guides it into the feeding port 203. The feeding port 203 is connected to the feeding bowl 202 below. The food enters the feeding bowl 202 along the feeding port 203 for the animals to eat.

[0036] The transfer lifting and positioning mechanism 204 is located at the boundary between the clean area and the contaminated area. The composite feeding robot 101 in the clean area carries the full-load feed rack 102 from the dispensing device 1 to the transfer lifting and positioning mechanism 204 and lowers the feed rack 102. The system then notifies the composite feeding robot 101 in the contaminated area to go to the transfer lifting and positioning mechanism 204 to drag away the full-load feed rack 102 for feeding. The composite feeding robot 101 is equipped with 3D vision positioning. It stops before reaching the feeding port 203. The position of the feeding port 203 is located by 3D vision positioning, and then the electric gripper grabs the feed cup and guides it into the feeding port 203. The feeding port 203 is connected to a feeding trough 202 below, and the food enters the feeding trough 202 along the feeding port 203 for the animals to eat.

[0037] The composite cleaning robot system 3 consists of a composite cleaning robot 301, a water tank 302, a water tank lifting and positioning mechanism 303, a water tap 304, and an electronic valve 305. The composite cleaning robot 301 consists of a cleaning mobile chassis, a cleaning collaborative robot, visual positioning, and an automatic water gun.

[0038] At the end of the contaminated room is a water tap 304. A water tank lifting and positioning mechanism 303 is located below the water tap 304. The composite cleaning robot 301 and the water tank 302 are designed separately. The water tank 302 can be independently placed under the water tank lifting and positioning mechanism 303. When the water tank 302 is empty, the composite cleaning robot 301 carries the water tank 302 to the water tank lifting and positioning mechanism 303 and lowers the water tank 302. The water tap 304 is controlled by an electronic valve 305 to start filling the water tank 302. The composite cleaning robot 301 then drags a full water tank 302 from another water tank lifting and positioning mechanism 303 to continue cleaning. Before reaching the cage to be cleaned, the composite cleaning robot 301 first uses vision to locate large stains, and then controls the cleaning robot to carry an automatic water gun for targeted rinsing.

[0039] Depending on the type of food, the linear scale 105 can be replaced with a linear scale 105 or a multi-head scale that is adapted to the specific food's feeding characteristics. The composite feeding robot 101 can be replaced with one that has its own feed hopper and feeds and dispenses the feed at the same time. However, the feed hopper cannot be too large, and it needs to be replenished frequently, resulting in discontinuous operation. The composite cleaning robot 301 can carry a water hose to clean each animal cage 201, but the water hose will affect the range of movement of the composite cleaning robot 301. The invention includes a feeding device 1 manufactured in a clean area, avoiding feeding in contaminated areas; a linear scale 105 with high accuracy up to ±5g and adaptable to various particle sizes of food; food is dispensed in cups on a feed rack 102, saving feeding time and improving feeding accuracy; quantitative distribution can be made according to animal weight, and the whereabouts of each cup can be traced; no manual intervention is required throughout the process, saving labor costs.

[0040] This invention uses a composite feeding robot 101 to handle transfer in the clean area and another to handle feeding in the contaminated area. The transfer is carried out through a positioning and lifting mechanism of a material rack 102. The water tank 302 is separated from the vehicle body and works in conjunction with the two positioning and lifting mechanisms of the two water tanks 302. An empty water tank 302 is placed at one positioning and lifting mechanism and a full water tank 302 is taken away at the other positioning and lifting mechanism. This solves the positioning problem and saves time in water collection. Through visual positioning, large stains in the positioning cage are located and cleaned at specific points for better results.

[0041] For the specific implementation scheme of this embodiment, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0042] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0043] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means at least two.

[0044] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] The system for automated quantitative feeding and cage cleaning in animal laboratories, which adopts the present invention, has the characteristics of being able to adapt to the classification of various foods of different weights, being flexible and adjustable, being able to adapt to different requirements and different feeding sequences, isolating clean areas and contaminated areas, and using vision to clean cages. It consists of a feeding device, a composite feeding system, and a composite cleaning robot system, which can improve the accuracy of feeding, prevent contamination, reduce manual labor, and improve efficiency.

[0046] In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. Therefore, the specification and drawings should be considered illustrative rather than restrictive.

Claims

1. A system for automated quantitative feeding and cage cleaning in animal laboratories, characterized in that, The system includes a feeding device, a compound feeding system, two compound feeding robots, and a compound cleaning robot system. The feeding device is installed in the clean area and is used to quantitatively dispense various foods into feeding cups according to a set weight and load them onto feeding racks. The compound feeding system is installed in the contaminated area and is used to transfer feeding racks and feed animal cages located in the contaminated area. One of the two compound feeding robots is installed at the feeding device in the clean area and is used to transfer a full feeding rack from the feeding device to the transfer lifting and positioning mechanism at the boundary between the clean and contaminated areas. The other compound feeding robot is installed at the compound feeding system in the contaminated area and is used to remove a full feeding rack from the transfer lifting and positioning mechanism and transport it to the animal cages for feeding. The compound cleaning robot system is installed in the contaminated area and is used to identify stains in the animal cages and perform targeted rinsing, and has an automatic water replenishment function.

2. The system for automatic quantitative feeding and cage cleaning in animal laboratories according to claim 1, characterized in that, The material sorting equipment includes a material rack, a feeding and lifting positioning mechanism, a discharging and lifting positioning mechanism, a weighing device, a conveyor belt, and a collaborative loading and unloading robot. The feeding and discharging lifting positioning mechanisms are located on both sides of the collaborative loading and unloading robot and are used to support and position the material rack containing empty or full cups. The feeding and discharging lifting positioning mechanisms are positioned upstream and downstream of the conveyor belt. The weighing device is installed near the conveyor belt. The conveyor belt is used to receive empty cups placed by the collaborative loading and unloading robot and transport the empty cups to the weighing device. The weighing device is used to quantitatively weigh the food according to a preset weight and fill it into the empty cups that arrive at its workstation. The collaborative loading and unloading robot picks up empty cups from the material rack located on the feeding and lifting positioning mechanism and places them on the conveyor belt, and picks up full cups filled with food from the end of the conveyor belt and places them in the material rack located on the discharging and lifting positioning mechanism.

3. The system for automatic quantitative feeding and cage cleaning in animal laboratories according to claim 2, characterized in that, The weighing equipment is a linear scale or a multi-head scale, and the type or type should be selected or changed according to the physical characteristics of the food to be packaged.

4. The system for automatic quantitative feeding and cage cleaning in animal laboratories according to claim 1, characterized in that, The composite feeding system includes animal cages, feeding bowls, feeding inlets, and a transfer lifting and positioning mechanism. The feeding inlets are located on the animal cages, and the feeding bowls are located inside the animal cages. Multiple animal cages are set up in the contaminated area. The transfer lifting and positioning mechanism is located at the boundary between the clean area and the contaminated area. The composite feeding robot in the clean area moves from the feeding equipment with a full-load feed rack to the transfer lifting and positioning mechanism and lowers the feed rack. The composite feeding robot in the contaminated area moves to the transfer lifting and positioning mechanism and drags away the full-load feed rack for feeding. The transfer lifting and positioning mechanism is used to achieve physical isolation between the clean area and the contaminated area.

5. The system for automatic quantitative feeding and cage cleaning in animal laboratories according to claim 1, characterized in that, The composite feeding robot includes a collaborative feeding robot, a 3D vision positioning device, an electric gripper, a feeding mobile chassis, and a feed rack. The collaborative feeding robot is mounted on the feeding mobile chassis. The electric gripper and the 3D vision positioning device are mounted at the end of the collaborative feeding robot. The 3D vision positioning device is used to identify and locate the feeding port on the animal cage. The electric gripper is used to grab the feed cup and put the food into the feeding bowl through the feeding port.

6. The system for automatic quantitative feeding and cage cleaning in animal laboratories according to claim 1, characterized in that, The composite cleaning robot system includes a composite cleaning robot, a water tank, a water tank lifting and positioning mechanism, a water tap, and an electronic valve. The composite cleaning robot and the water tank are designed separately. The water tank lifting and positioning mechanism is located below the water tap in the contaminated area. The electronic valve controls the opening and closing of the water tap. The composite cleaning robot automatically replenishes water by placing an empty water tank on the water tank lifting and positioning mechanism and removes a full water tank from the mechanism.

7. The system for automatic quantitative feeding and cage cleaning in animal laboratories according to claim 6, characterized in that, The composite cleaning robot includes a cleaning mobile chassis, a cleaning collaborative robot, a visual positioning device, and an automatic water gun. The cleaning collaborative robot is mounted on the cleaning mobile chassis, and the visual positioning device and the automatic water gun are mounted at the end of the cleaning collaborative robot. The visual positioning device is used to identify stains in the animal cage and guide the automatic water gun to perform targeted rinsing.

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