Sperm taking arm mechanism for poultry

Abstract

The utility model discloses a sperm taking arm mechanism for poultry, which comprises a base plate, a first driving motor, a second driving motor, a first annular column, a second annular column, a plurality of guide rods, a transmission rod, a needle sleeving rod, a needle sleeving cylinder and a limiting plate, the other end of the transmission rod sequentially penetrates through the first annular column and the second annular column and is fixed to the second annular column, the transmission rod can rotate relative to the first annular column and the second annular column, the guide rod is installed on the first annular column and the second annular column, and the first annular column and the second annular column can move along the guide rod. One end of the guide rod is connected with the base disc, the other end of the guide rod is connected with the limiting disc, and the first motor is used for driving the first annular column and the second annular column to move along the guide rod. The second motor is used for driving the trocar cylinder on the trocar rod to stretch relative to the trocar. The automatic injection device can realize automatic injection, and is controllable in injection amount, high in precision, high in efficiency and good in reliability.

Description

Technical Field

[0001] The utility model relates to the technical field of poultry breeding equipment, in particular to a semen collection arm mechanism for poultry. Background Art

[0002] In the process of poultry farming, especially with the industrialization of farming, the scale of poultry farming is getting larger and larger. In poultry farming, it is necessary to artificially inseminate female poultry (such as hens). Insemination of female poultry requires the use of an injection device so that the semen in the injection device can be injected into the body of the female poultry to complete the injection. The injection device for insemination of female poultry generally uses an insemination gun. The existing insemination gun is often difficult to adjust the position and direction, so it is not convenient to aim at the target part of the target, which makes it inconvenient for the operator to hold the female poultry by hand. This affects the efficiency of artificial insemination. Utility Model Content

[0003] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a semen collection arm mechanism for poultry, which integrates semen collection, semen discharge and needle telescopic function, and can solve the problems described in the background technology.

[0004] The technical solution to achieve the purpose of the utility model is: a semen collection arm mechanism for poultry, including a base plate, a first drive motor, a second drive motor, a first annular column, a second annular column, a plurality of guide rods, a transmission rod, a trocar rod, a trocar cylinder and a limit plate,

[0005] The first drive motor is mounted on the base plate, and the output end of the first drive motor is connected to one end of a transmission rod, the transmission rod is a screw rod, and the other end of the transmission rod passes through the first annular column and the second annular column in sequence and is fixed on the second annular column.

[0006] The transmission rod can rotate relative to the first annular column and the second annular column to drive the first annular column and the second annular column to slide along the axial direction of the transmission rod.

[0007] The guide rod is installed on the first annular column and the second annular column. The first annular column and the second annular column can move along the guide rod, and the guide rod plays a guiding role.

[0008] One end of the guide rod is connected to the base plate, and the other end is connected to the limit plate.

[0009] The first motor is used to drive the first annular column and the second annular column to move along the guide rod to drive the trocar rod to approach or move away from the base plate.

[0010] The second motor is used to drive the trocar cylinder on the trocar rod to extend and retract relative to the trocar, so that the trocar cylinder retracts relative to the trocar rod to allow the needle to absorb semen for injection, and the sleeve cylinder extends relative to the trocar rod to discharge the semen in the needle and inject it into the poultry.

[0011] Furthermore, the transmission rod extends into the chassis seat and is connected to the output end of the first driving motor.

[0012] Furthermore, the transmission rod is threadedly connected to the first annular column and the second annular column, the first annular column and the second annular column are both sleeved on the transmission rod, and the first annular column and the second annular column are spaced apart so that the transmission rod can rotate relative to the first annular column and the second annular column to drive the first annular column and the second annular column to slide along the axial direction of the transmission rod.

[0013] Furthermore, a plurality of first strip grooves are arranged on the first annular column, the first strip grooves are arranged along the axial direction of the first annular column, and the first strip grooves are arranged at intervals, and a plurality of second strip grooves are arranged on the second annular column, the second strip grooves are arranged along the axial direction of the second annular column, and the second strip grooves are arranged at intervals.

[0014] Furthermore, the first strip-shaped grooves are arranged on the first annular column at equal intervals, and the second strip-shaped grooves are arranged on the second annular column at equal intervals.

[0015] Furthermore, one end of the guide rod is fixed on the base plate, and the other end is embedded in the first strip groove and the second strip groove in sequence, and is fixedly connected to the limiting plate after passing through the second strip groove.

[0016] Furthermore, it also includes a piston, an output end of the second drive motor is connected to one end of the needle cylinder on the needle rod, one end of the needle rod passes through the limiting disk and extends into the second annular column and is connected to the second annular column, the second drive motor is transmission-connected to the piston, the second drive motor is used to drive the needle cylinder to slide relative to the needle rod, the other end of the needle rod is located on the side of the limiting disk away from the second annular column, the needle rod is used to connect the needle, and the needle cylinder is sleeved on the needle rod exposed on one side of the limiting disk.

[0017] Furthermore, a through hole penetrating the limiting disk is arranged at the center of the limiting disk, and the trocar rod passes through the through hole.

[0018] Furthermore, the diameter of the needle end close to the limiting disk is larger than the diameter of the through hole on the limiting disk.

[0019] Furthermore, it also includes a sleeve, which is sleeved on the first annular column, the second annular column and the guide rod, and the two ends of the sleeve are respectively abutted against the inner surface of the base plate and the inner surface of the limit plate, and the first annular column and the second annular column are spaced apart or in sliding contact with the sleeve, so that the first annular column and the second annular column can slide relative to the sleeve.

[0020] The beneficial effects of the utility model are as follows: the utility model can well realize automated injection, the injection volume is controllable, the precision is high, and the needle insertion, semen injection and needle withdrawal as well as unloading of the used needle and insertion of the new needle can be completed without human intervention, the efficiency is high, the reliability is good, and only two motors are needed to realize it, the cost is low, and the maintenance is easy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the utility model;

[0022] Figure 2 It is a structural schematic diagram of some components of the utility model;

[0023] Figure 3 For Figure 2 Schematic diagram of the structure of some components of different visions;

[0024] Figure 4 is a schematic diagram of the structure of some components from another perspective;

[0025] Figure 5 is a schematic diagram of the structure of some components from another perspective;

[0026] Figure 6 for Figure 5 The enlarged schematic diagram of point A in the middle;

[0027] Figure 7 is a schematic diagram of the structure of some components from another perspective;

[0028] Figure 8 It is the structural diagram of the fine-grained arm mechanism;

[0029] Fig. 9 is a schematic diagram of the structure of another part;

[0030] Fig.10 It is a structural schematic diagram of some components;

[0031] Fig.11 It is a structural schematic diagram of another part of the components;

[0032] Fig.12 for Fig.11 The enlarged schematic diagram of point B in the middle;

[0033] Fig.13 It is a structural schematic diagram of a local component;

[0034] In the figure, 1-fine arm assembly, 2-vibration feeding mechanism, 3-roof plate, 5-bottom frame, 6-rear wheel, 7-drive assembly, 8-front wheel, 9-steering assembly, 901-steering bracket, 902-front end of steering plate, 903-limiting connecting column, 904-movable annular hole, 905-steering plate, 906-hinge, 907-fixed seat, 908-steering sleeve, 909-connecting hoop, 910-support plate, 911-first through hole, 912-steering drive motor, 913-steering screw rod, 914-sliding seat block, 10-head rod, 11-first motor, 12-transverse connecting beam, 13-controller, 14-longitudinal connecting beam, 15- Conveying guide rail, 16-auxiliary vibrator, 17-receiving block, 18-strip block, 19-guide rail frame, 20-positioning hole, 21-receiving recess, 22-needle, 23-positioning column, 24-semen taking arm mechanism, 241-first driving motor, 242-base plate, 243-first annular column, 244-first strip groove, 245-transmission rod, 246-guide rod, 247-second driving motor, 248-second annular column, 249-limiting plate, 2410-needle rod, 2411-second strip groove, 2412-sleeve, 25-second motor, 26-third motor, 27-liquid storage barrel, 28-syringe storage cup, 29-lifting mechanism. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings and specific implementation plans:

[0036] like Figure 1-Figure 13 As shown, a semen collection arm mechanism for poultry is applied to a semi-automatic injection device for poultry, the semi-automatic injection device includes a mobile vehicle, and a lifting mechanism 29 and an injection assembly installed on the mobile vehicle. The mobile vehicle can move in the front and rear directions and the left and right directions, so that the semi-automatic injection device can move axially and radially along the chicken cage production line, that is, it can move axially along the chicken cage production line, and can also move radially close to or away from the chicken cage, so as to adjust the distance between the injection assembly on the mobile vehicle and the mother poultry on the chicken cage production line.

[0037] The mobile vehicle includes a bottom frame 5, a roof panel 3, a front wheel 8, a rear wheel 6, a drive assembly 7 and a steering assembly 9. The front wheel 8, the rear wheel 6, the drive assembly 7 and the steering assembly 9 are all mounted on the bottom frame 5. The front wheel 8 and the rear wheel 6 are rotatably mounted at the front and rear positions of the bottom frame 5 respectively. The front wheel 8 and the rear wheel 6 can both rotate relative to the bottom frame 5. The drive assembly 7 is transmission-connected to the rear wheel 6 to drive the rear wheel 6 to rotate, thereby enabling the mobile vehicle to move forward and backward.

[0038] The steering assembly 9 is in driving connection with the front wheels 8, and the steering assembly 9 is used to drive the front wheels 8 to change the forward direction, so that the mobile vehicle can approach and move away from the chicken cage production line in the radial direction, thereby adjusting the distance from the mother poultry in the horizontal direction.

[0039] The steering assembly 9 is transmission-connected to the front wheel 8 via the front rod 10. The front rod 10 is fixedly connected to the front wheel 8. The front rod 10 is rotationally connected to the steering assembly 9. The steering assembly 9 can drive the front rod 10 to rotate, thereby driving the front wheel 8 to change the forward direction.

[0040] The lower end of the lifting mechanism 29 is fixed on the bottom frame 5, and the upper end is fixedly connected to the roof panel 3. The lifting mechanism 29 is used to drive the roof panel 3 to move up and down to approach and move away from the bottom frame 5. The lifting mechanism 29 can adopt a scissor lift or other lifting equipment with lifting function. The lifting mechanism 29 drives the roof panel 3 to move up and down, so that the operator sitting on the roof panel 3 can perform insemination operations on the female poultry at different heights on the chicken cage production line, thereby adjusting the distance from the female poultry in the height direction to adapt to the insemination work at different levels.

[0041] The injection system is fixedly mounted on the roof plate 3, and the injection system is used to inject semen into the female poultry to complete the insemination operation on the female poultry. Of course, in actual use, other substances can also be injected, such as liquid medicines, to treat poultry.

[0042] The injection system includes a controller 13, a vibration feeding mechanism 2, a sperm collecting arm assembly 1 and a transmission mechanism, wherein the sperm collecting arm assembly 1 includes a sperm collecting arm mechanism 24, and the controller 13 is mounted on the transmission mechanism and electrically connected to the transmission mechanism, and the controller 13 can control the transmission mechanism to drive the sperm collecting arm mechanism 24. The vibration feeding mechanism 2 is mounted on the roof panel 3 and is located on one side of the transmission mechanism, and the vibration feeding mechanism 2 is used to deliver the needle 22 to the sperm collecting arm mechanism 24. The sperm collecting arm mechanism 24 is mounted on the transmission mechanism, and the transmission mechanism is used to drive the sperm collecting arm mechanism 24 to tilt and rotate forward and backward and swing horizontally left and right, so as to adjust the position of the sperm collecting arm mechanism 24 close to the mother poultry and adjust the direction of the sperm collecting arm mechanism 24 to the target part of the mother poultry body.

[0043] The vibration feeding mechanism 2 includes a vibration feeding machine (not shown in the figure), a conveying guide rail 15 and an auxiliary vibrator 16. The auxiliary vibrator 16 is located at one end of the conveying guide rail 15 away from the vibration feeding machine. The auxiliary vibrator 16 is located at the lower end of the conveying guide rail 15 and is in contact with the conveying guide rail 15. The output port of the vibration feeding machine is connected to one end of the conveying guide rail 15 to move the needle 22 in the vibration feeding machine out of the output port and into the conveying guide rail 15. The auxiliary vibrator 16 plays an auxiliary role in vibrating the conveying guide rail 15, so that the conveying guide rail 15 can still make the needle 22 on the conveying guide rail 15 continue to be transported forward under the action of vibration when the distance is long until it is transported to the target position.

[0044] The auxiliary vibrator 16 is installed on the roof panel 3 through a bar block 18 . The auxiliary vibrator 16 is fixedly installed on the bar block 18 , and the bar block 18 is fixed on the roof panel 3 .

[0045] In an optional embodiment, the injection system further includes a receiving block 17, which is located at the other end of the conveying rail 15 and installed above the bar block 18, and is used to receive the needle 22 on the conveying rail 15. The receiving block 17 is provided with a receiving notch 21 and a plurality of positioning holes 20, and the receiving notch 21 is aligned with the conveying rail 15 to receive the needle 22 on the conveying rail 15.

[0046] In an optional embodiment, a fiber optic sensor, an infrared sensor or other sensor is also installed on the receiving block 17. The fiber optic sensor is located on one side of the receiving recess 21 and is aligned with the receiving recess 21. The fiber optic sensor is used to detect whether there is a needle 22 in the receiving recess 21. After detecting the presence of the needle 22 in the receiving recess 21, the fiber optic sensor sends a first signal to the controller 13 to indicate that there is currently a needle 22 in the receiving recess 21, so that the controller 13 can control the sperm extraction arm mechanism 24 to move to the top of the receiving recess 21 and remove the needle 22.

[0047] The transmission mechanism includes a first motor 11, a transverse connecting beam 12, a longitudinal connecting beam 14, a guide rail frame 19, a second motor 25 and a third motor 26. The longitudinal connecting beam 14 is provided with a guide rail. The transverse connecting beam 12 is installed on the guide rail of the longitudinal connecting beam 14 and can slide along the longitudinal connecting beam 14. The transverse connecting beam 12 is linked to the transmission wheel of the first motor 11. The first motor 11 is used to drive the transverse connecting beam 12 to slide along the axial direction of the longitudinal connecting beam 14, so as to adjust the height of the transverse connecting beam 12. The longitudinal connecting beam 14 is slidably installed on the guide rail frame 19, and the guide rail frame 19 is also provided with a guide rail. The longitudinal connecting beam 14 is slidably installed on the guide rail on the guide rail frame 19, so that the longitudinal guide rail beam can move along the axial direction of the guide rail frame 19. The first motor 11 is installed on the top of the longitudinal connecting beam 14. The second motor 25 and the third motor 26 are both mounted on the transverse connecting beam 12, the second motor 25 is connected to the sperm collecting arm mechanism 24, the sperm collecting arm mechanism 24 is mounted on the second motor 25, the third motor 26 is connected to the mounting frame (not shown in the figure) where the second motor 25 is located, the mounting frame is rotatably mounted on the transverse connecting beam 12, and the second motor 25 is in transmission connection with the sperm collecting arm mechanism 24. The third motor 26 is used to drive the mounting frame and the second motor 25 on the mounting frame to tilt and swing in the axial direction of the transverse connecting beam 12, thereby adjusting the tilt angle of the sperm collecting arm mechanism 24 connected to the mounting frame and the second motor 25. The second motor 25 is used to drive the sperm collecting arm mechanism 24 to tilt and swing in the radial direction of the transverse connecting beam 12. The height position and orientation of the sperm collecting arm mechanism 24 can be driven and adjusted by the second motor 25 and the third motor 26, so that the sperm collecting arm mechanism 24 can be aligned with the target body position of the female poultry to complete the injection (such as insemination).

[0048] In an optional embodiment, the transmission mechanism further includes a first limiting assembly and a second limiting assembly, wherein the first limiting assembly is used to limit the rotation angle of the tilting swing of the installation frame, and the second limiting assembly is used to limit the tilting angle range of the sperm extraction arm mechanism 24. The first limiting assembly includes a first arc-shaped groove and a first limiting rod, one end of the first limiting rod is fixedly mounted on the transverse connecting beam 12, and the other end extends into the first arc-shaped groove, and the first arc-shaped groove is dug in the installation frame. The second limiting assembly includes a second arc-shaped groove and a second limiting rod, one end of the second limiting rod is fixedly mounted on the installation frame, and the other end extends into the second arc-shaped groove, and the second arc-shaped groove is dug on the sperm extraction arm mechanism 24.

[0049] The sperm collection arm mechanism 24 includes a first drive motor 241, a base plate 242, a first annular column 243, a first strip groove 244, a transmission rod 245, a plurality of guide rods 246, a second drive motor 247, a second annular column 248, a limit plate 249, a needle rod 2410, a second strip groove 2411 and a sleeve 2412. The first drive motor 241 is fixedly mounted on the base plate 242. The output end of the first drive motor 241 is transmission-connected to one end of the transmission rod 245. The transmission rod 245 is a screw rod. The first drive motor 241 is used to drive the transmission rod 245 to rotate. The transmission rod 245 extends into the base plate 242 and is connected to the output end of the first drive motor 241. The other end of the transmission rod 245 passes through the first annular column 243 and the second annular column 248 in sequence and is fixed on the second annular column 248. The transmission rod 245 is threadedly connected with the first annular column 243 and the second annular column 248. The first annular column 243 and the second annular column 248 are sleeved on the transmission rod 245. The first annular column 243 and the second annular column 248 are arranged at intervals, so that the transmission rod 245 can rotate relative to the first annular column 243 and the second annular column 248 to drive the first annular column 243 and the second annular column 248 to slide along the axial direction of the transmission rod 245. The first annular column 243 is provided with a plurality of first strip grooves 244, which are arranged along the axial direction of the first annular column 243. The first strip grooves 244 are arranged at intervals, for example, they are arranged at equal intervals on the first annular column 243. A plurality of second strip grooves 2411 are disposed on the second annular column 248 . The second strip grooves 2411 are disposed along the axial direction of the second annular column 248 . The second strip grooves 2411 are disposed at intervals, for example, at equal intervals on the second annular column 248 .

[0050] One end of the guide rod 246 is fixed on the base plate 242, and the other end is embedded in the first strip groove 244 and the second strip groove 2411 in sequence and passes through the second strip groove 2411 to be fixedly connected to the limit plate 249. The first annular column 243 and the second annular column 248 can move along the guide rod 246, and the guide rod 246 plays a guiding role.

[0051] The device further comprises a piston and a trocar cylinder. The second drive motor 247 is fixedly mounted on the second annular column 248. The output end of the second drive motor 247 is connected to one end of the trocar cylinder on the trocar rod 2410. One end of the trocar rod 2410 passes through the limiting plate 249 and then extends into the second annular column 248 and is connected to the second annular column 248. The second drive motor 247 is in transmission connection with the piston. The second drive motor 247 is used to drive the trocar cylinder to slide relative to the trocar rod 2410, that is, to drive the trocar rod 2410 away from and close to the limiting plate 249, that is, to drive the trocar cylinder to extend and retract. The other end of the trocar rod 2410 is located on the side of the limiting plate 249 away from the second annular column 248. The trocar rod 2410 is used to sleeve the needle 22. The trocar cylinder is sleeved on the trocar rod 2410 exposed on one side of the limiting plate 249.

[0052] A through hole penetrating the limiting disk 249 is provided at the center of the limiting disk 249, and the trocar rod 2410 passes through the through hole. A plurality of positioning posts 23 are also provided at the eccentric part of the limiting disk 249, and the positioning posts 23 are matched with the positioning holes 20 on the receiving block 17. When the positioning posts 23 extend into the positioning holes 20, the trocar rod 2410 just extends into the receiving recess 21 and sleeves the needle 22 located in the receiving recess 21.

[0053] The sleeve 2412 is sleeved on the first annular column 243, the second annular column 248 and the guide rod 246, and the two ends of the sleeve 2412 are respectively abutted against the inner surface of the base plate 242 and the inner surface of the limit plate 249, and the first annular column 243 and the second annular column 248 are spaced apart or in sliding contact with the sleeve 2412, so that the first annular column 243 and the second annular column 248 can slide relative to the sleeve 2412.

[0054] When the needle 22 needs to be removed or installed, the first driving motor 241 drives the first annular column 243 and the second annular column 248 to move away from or close to the limiting disk 249 through the transmission rod 245, and moves away from the limiting disk 249, so that the trocar rod 2410 retracts back. When the needle 22 on the trocar rod 2410 contacts the limiting disk 249, if it continues to retract, since the diameter of the end of the needle 22 close to the limiting disk 249 is larger than the diameter of the through hole on the limiting disk 249, the needle 22 can be removed from the limiting disk 249 due to the action of the limiting disk 249. When it moves close to the limiting disk 249, the trocar rod 2410 extends forward, so that the trocar rod 2410 can extend into the receiving recess 21 and press the trocar rod 2410 into the needle 22, and the needle 22 is installed.

[0055] When injection is required, the second motor 25 first drives the syringe forward by the piston, and then the semen or other injection substances enter the syringe to complete the semen extraction operation; when the semen needs to be injected, the syringe is driven to retract, and the semen is discharged from the syringe and injected into the mother bird. The needle 22 is slightly extended forward and withdrawn, and the needle 22 is inserted into the target part of the mother bird, and the second drive motor 247 drives the needle rod 2410 to extend forward and withdraw backward by a preset distance to complete the injection and withdrawal of the needle 22.

[0056] Among them, the mobile vehicle can move at a fixed distance according to the cage distance. After the injection of each cage is completed, when the insemination operator closes the cage door, he presses the forward button to send a forward signal. After receiving the forward signal, the controller 13 controls the drive component 7 to work, and measures the distance through the high-resolution encoder on the mobile vehicle, and can automatically move to the next cage position according to the actual cage distance. Therefore, there is no need to manually adjust the switch and direction on the head rod 10, and the next chicken cage position can be accurately reached to complete the injection of the next chicken cage.

[0057] Among them, the cross-sections of the sleeve 2412, the base plate 242 and the limiting plate 249 are all circular, so that the sperm extraction arm mechanism 24 is an overall cylindrical structure, which is conducive to smoothly extending into the receiving recess 21.

[0058] The injection system further includes a liquid barrel 27 and a syringe cup 28, both of which are mounted on a mobile vehicle, and are located on the moving path of the trocar rod 2410. When the trocar rod 2410 moves to the top of the syringe, the needle 22 is pushed out of the trocar rod 2410 by the first drive motor 241 and falls into the syringe cup 28, completing the recovery of the needle 22. When the trocar rod 2410 carries the needle 22 and moves to the top of the liquid barrel 27, the second motor 25 extends the needle 22 into the liquid barrel 27, completing the loading of semen. The second motor 25 drives the trocar to extend outward and sucks semen into the needle 22 under the action of negative pressure. When semen injection is required, the semen in the needle 22 is discharged from the needle 22 and injected into the mother bird under the action of the second motor 25.

[0059] The sperm collecting arm mechanism 24 can well complete the insemination injection operation, can well realize the automated, high-precision quantitative injection of substances (such as semen), and complete the insemination operation of the female poultry. The overall structure is simple, low cost, firm and reliable, and has a long service life.

[0060] The steering assembly 9 includes a front rod 10, a steering bracket 901, a front end 902 of a steering plate, a limit connecting column 903, a movable annular hole 904, a steering plate 905, a hinge 906, a fixing seat 907, a steering collar 908, a connecting hoop 909, a supporting plate 910, a first through hole 911, a steering drive motor 912, a screw rod and a sliding seat block 914. The steering bracket 901 is fixedly mounted on the bottom frame 5, the supporting plate 910 is fixedly connected to the steering bracket 901, and the supporting plate 910 and the steering bracket 901 can be an integrated structure. The steering drive motor 912 is mounted on the supporting plate 910 through a connecting plate, the connecting plate is fixedly mounted on the supporting plate 910, and the steering drive motor 912 is mounted on the connecting plate. The steering screw rod 913 is also mounted on the connecting plate and can rotate relative to the connecting plate. The output end of the steering drive motor 912 is transmission-connected to the steering screw 913, and the slide block 914 is sleeved on the steering screw 913 and threadedly connected to the steering screw 913. The slide block 914 can slide along the axial direction of the steering screw 913 when the steering screw 913 is rotating, that is, the slide block 914 can move linearly on the steering screw 913.

[0061] The steering bracket 901 is provided with a movable annular hole 904 penetrating the steering bracket 901, one end of the position-limiting connecting column 903 is fixed on the slide block 914, and the other end extends into the movable annular hole 904. The length direction of the movable annular hole 904 is greater than the diameter of the position-limiting connecting column 903, and the position-limiting connecting column 903 abuts against two radial side walls of the movable annular hole 904. The position-limiting connecting column 903 is a cylindrical structure, and the other end of the position-limiting connecting column 903 is flush with the upper end surface of the steering bracket 901 and the upper surface of the steering plate 905. The steering plate 905 includes a steering plate front end 902, the steering plate front end 902 is close to the position-limiting connecting column 903, and a metal block (not shown in the figure) is fixedly arranged on the lower end of the steering plate front end 902 (i.e., the end close to the slide block 914). A metal detector is fixedly arranged on the upper end of the slide block 914 (i.e., the end close to the steering plate front end 902). The steering plate 905 is connected to the fixing seat 907 via a hinge 906 , so that the steering plate 905 can be turned over relative to the fixing seat 907 , thereby enabling the steering plate 905 to be turned over to at least a first position and a second position.

[0062] First position: the steering plate 905 is in a horizontal state, the limiting connecting column 903 extends into the movable annular hole 904, the metal block is attached to the metal detector, the metal detector can sense the metal block, and sends a second signal to the controller 13.

[0063] In the second position, the steering plate 905 is in an upward tilted state, the limiting connecting column 903 is separated from the movable annular hole 904, and the metal block is spaced apart from the metal detector.

[0064] The fixing seat 907 is fixedly connected with a connecting hoop 909, and the connecting hoop 909 and one side of the fixing seat 907 form a steering collar 908, and the steering collar 908 is located directly above the first through hole 911, and the first through hole 911 is dug on the support plate 910. The front rod 10 passes through the steering collar 908 and the first through hole 911 in turn and is rotatably connected with the fixing seat 907 and the support plate 910. The front rod 10 is connected to the support plate 910 through a bearing (not shown in the figure), and the bearing is installed in the first through hole 911, so that the front rod 10 can rotate relative to the fixing seat 907 and the support plate 910. After passing through the first through hole 911, the front rod 10 is connected to the front wheel 8, so that the front wheel 8 is driven to change direction by the rotation of the front rod 10. For example, the front wheel 8 rotates to the left front or to the right front, so that the distance between the mobile vehicle and the poultry production line can be adjusted.

[0065] When the moving vehicle needs to change its forward or backward direction, the steering drive motor 912 rotates forward or reversely, thereby driving the slide block 914 on the steering screw rod 913 to move, and the slide block 914 drives the steering plate 905 to swing in the horizontal direction through the limit connection column 903. The steering plate 905 drives the front rod 10 to rotate through the fixing seat 907 and the connecting hoop 909, thereby driving the front wheel 8 to turn through the front rod 10, thereby changing the forward direction.

[0066] In order to avoid the steering drive motor 912 driving the steering screw 913 to rotate when the steering plate 905 has not reached the first position, that is, has not been engaged with the slide block 914, thereby achieving ineffective work and wasting energy. To this end, only when the steering plate 905 reaches the first position, the metal detector detects a metal block and sends a third signal, and the controller 13 controls the steering drive motor 912 to work after receiving the third signal. If the third signal is not received, the steering drive motor 912 is prohibited from working.

[0067] In an optional embodiment, a range-finding radar and an infrared sensor are also included, and both the range-finding radar and the infrared sensor are installed on the side of the mobile vehicle close to the chicken cage production line, and both the range-finding radar and the infrared sensor are connected to the controller 13. When the range-finding radar measures that the current distance between the mobile vehicle and the chicken cage production line is within a preset distance, a stop steering signal is sent to the controller 13. After receiving the stop steering signal, the controller 13 sends a stop steering command to the steering drive motor 912. After receiving the stop steering command, the steering drive motor 912 stops working, thereby stopping changing the steering direction of the front wheels of the vehicle.

[0068] The infrared sensor is installed on the side of the mobile vehicle close to the chicken cage production line. The infrared sensors are connected to the controller. The infrared sensor is used to monitor whether the current position is at the chicken cage column position on the chicken cage production line. When it is at the chicken cage column position, the controller stops counting the pulses returned by the encoder, and the encoder stops counting to avoid the increase of the fixed-distance walking error due to the accumulation of errors in the column width (generally 50mm wide). It ensures that the position of the mobile vehicle after each travel is basically fixed relative to the cage door position of the chicken cage, which is convenient for the operator to catch the hens in the chicken cage.

[0069] It also includes an encoder, which is electrically connected to the drive component 7 and the controller 13. The encoder can accurately measure the current moving distance of the moving vehicle in real time.

[0070] The injection system can well realize automatic replacement of the needle 22, improve the automation of injection, reduce the efficiency of replacing the needle 22, and avoid the problem of failure in replacing the needle 22. It has high reliability, simple and firm structure, low cost and long service life.

[0071] The sperm extraction arm mechanism 24 of the injection system can well realize automated injection, with controllable injection volume and high precision, and can complete injection and needle removal without human intervention. It has high efficiency and good reliability, and only requires two motors to achieve it, with low cost and easy maintenance.

[0072] The above-mentioned steering assembly 9 can well realize reliable change of direction of the mobile vehicle, and through the combination of sensors such as radar and infrared sensors, it can realize fixed distance adjustment with the target chicken cage production line, so that the mobile vehicle can be stopped at the target position, which is more convenient for operators to grab the hens in the chicken cage, thereby facilitating the adjustment of the position of the hen during the process of grabbing the hen, so that the target part of the hen can be aligned with the needle 22 to complete the injection of the target part.

[0073] Compared with the purely manual injection (insemination) scheme, the present invention has greatly improved automation. The operator only needs to grab the female poultry to be injected, and the operator can complete the injection while sitting on a mobile vehicle. It is suitable for H-type chicken cages, has a high degree of automation, and the sitting position is comfortable and efficient. In addition, the amount of injected semen is controllable, with high precision, and will not vary from person to person. The degree of automation can be improved for poultry farming as a whole.

[0074] Based on the semi-automatic injection device for poultry, the present invention also provides a poultry injection method, comprising the following steps:

[0075] Step 1: The operator sits on the roof panel 3 of the mobile vehicle and adjusts the height of the roof panel 3 through the lifting mechanism 29 .

[0076] Step 2: The operator grabs the hen to be injected and directs the target part of the hen toward the outside (ie, toward one side of the roof panel 3).

[0077] Step 3: The third motor 26 drives the installation frame to rotate up and down as a whole, and drives the sperm collection arm mechanism 24 to be tilted in the longitudinal direction through the installation frame; the second motor 25 drives the sperm collection arm mechanism 24 to be tilted in the transverse direction, so that the sperm collection arm can be tilted toward the target part of the female poultry.

[0078] In this step, the sperm collecting arm can be adjusted to an inclined state in both the longitudinal and transverse directions, which can avoid the sperm collecting arm completing the injection in a vertical downward state, which makes it inconvenient for the operator to grab the female poultry. If the sperm collecting arm mechanism 24 is in a vertical downward state to complete the injection, it means that the operator needs to grab the female poultry from the chicken cage and place it under the sperm collecting arm mechanism 24, which corresponds to the operator sitting on the roof plate 3 to operate very troublesome. By adjusting the inclined state of the sperm collecting arm mechanism 24 in both the longitudinal and transverse directions, the sperm collecting arm mechanism 24 can be oriented toward the chicken cage, and the operator only needs to point the target part of the female poultry in the chicken cage toward the outside of the chicken cage, which is more convenient for the operator.

[0079] Step 4: The sperm collection arm mechanism injects the target part of 24 boxes of hens to complete the injection.

[0080] Among them, since the operator holds the hen with both hands, in order to issue the injection instruction, a press switch is also included, and the press switch is connected to the controller 13, and the press switch is arranged on one side of the roof panel 3. When injection is required, the operator's thigh knee swings to the right to touch the press switch, and the press switch sends an injection signal to the controller 13. After the controller 13 receives the injection signal, the controller 13 sends an instruction to the second drive motor 247 of the sperm extraction arm mechanism 24, and the second drive motor 247 drives the trocar barrel on the trocar rod 2410 to retract, and the injection substance in the needle 22 is injected into the target part of the hen to complete the injection.

[0081] The embodiment disclosed in this specification is only an example of the unilateral features of the utility model, and the protection scope of the utility model is not limited to this embodiment. Any other functionally equivalent embodiments fall within the protection scope of the utility model. For those skilled in the art, various other corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all these changes and deformations should fall within the protection scope of the claims of the utility model.

Claims

1. A semen collection arm mechanism for poultry, characterized in that: It includes a base plate, a first drive motor, a second drive motor, a first annular column, a second annular column, a plurality of guide rods, a transmission rod, a trocar rod, a trocar cylinder and a limit plate. The first drive motor is mounted on the base plate, and the output end of the first drive motor is connected to one end of a transmission rod, the transmission rod is a screw rod, and the other end of the transmission rod passes through the first annular column and the second annular column in sequence and is fixed on the second annular column. The transmission rod can rotate relative to the first annular column and the second annular column to drive the first annular column and the second annular column to slide along the axial direction of the transmission rod. The guide rod is installed on the first annular column and the second annular column. The first annular column and the second annular column can move along the guide rod, and the guide rod plays a guiding role. One end of the guide rod is connected to the base plate, and the other end is connected to the limit plate. The first motor is used to drive the first annular column and the second annular column to move along the guide rod to drive the trocar rod to approach or move away from the base plate. The second motor is used to drive the trocar cylinder on the trocar rod to extend and retract relative to the trocar, so that the trocar cylinder retracts relative to the trocar rod to allow the needle to absorb semen for injection, and the sleeve cylinder extends relative to the trocar rod to discharge the semen in the needle and inject it into the poultry.

2. The semen collection arm mechanism for poultry according to claim 1, characterized in that: The transmission rod extends into the chassis seat and is connected with the output end of the first driving motor.

3. The semen collection arm mechanism for poultry according to claim 1, characterized in that: The transmission rod is threadedly connected to the first annular column and the second annular column. The first annular column and the second annular column are both sleeved on the transmission rod. The first annular column and the second annular column are spaced apart so that the transmission rod can rotate relative to the first annular column and the second annular column to drive the first annular column and the second annular column to slide along the axial direction of the transmission rod.

4. The semen collection arm mechanism for poultry according to claim 1, characterized in that: The first annular column is provided with a plurality of first strip grooves, which are arranged along the axial direction of the first annular column and are spaced apart from each other. The second annular column is provided with a plurality of second strip grooves, which are arranged along the axial direction of the second annular column and are spaced apart from each other.

5. The semen collection arm mechanism for poultry according to claim 4, characterized in that: The first strip-shaped grooves are arranged on the first annular column at equal intervals, and the second strip-shaped grooves are arranged on the second annular column at equal intervals.

6. The semen collection arm mechanism for poultry according to claim 4, characterized in that: One end of the guide rod is fixed on the base plate, and the other end is embedded in the first strip groove and the second strip groove in sequence, and is fixedly connected with the limiting plate after passing through the second strip groove.

7. The semen collection arm mechanism for poultry according to claim 6, characterized in that: The trocar rod further comprises a piston, wherein the output end of the second driving motor is connected to one end of the trocar cylinder on the trocar rod, one end of the trocar rod passes through the limiting disk and extends into the second annular column and is connected to the second annular column, the second driving motor is transmission-connected to the piston, the second driving motor is used for driving the trocar cylinder to slide relative to the trocar rod, the other end of the trocar rod is located on the side of the limiting disk away from the second annular column, the trocar rod is used for sleeve-connecting the needle, and the trocar cylinder is sleeved on the trocar rod exposed on one side of the limiting disk.

8. The semen collecting arm mechanism for poultry according to claim 7, characterized in that: A through hole penetrating the limiting disk is arranged at the center of the limiting disk, and the trocar rod passes through the through hole.

9. The semen collection arm mechanism for poultry according to claim 8, characterized in that: The diameter of one end of the needle head close to the limiting disk is larger than the diameter of the through hole on the limiting disk.

10. The semen collection arm mechanism for poultry according to claim 9, characterized in that: It also includes a sleeve, which is sleeved on the first annular column, the second annular column and the guide rod, and the two ends of the sleeve are respectively abutted against the inner surface of the base plate and the inner surface of the limit plate, and the first annular column and the second annular column are spaced apart or in sliding contact with the sleeve, so that the first annular column and the second annular column can slide relative to the sleeve.

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