Farm cross-unit track through-wall automatic vertical hinged door structure and robot inspection system

Abstract

The utility model discloses a farm cross-unit track through-wall automatic vertical hinged door structure which is used for being installed on a holed wall body and comprises a first door body, a second door body, a second door body, a third door body and a fourth door body, the second door body is arranged on the first side of the perforated wall body and is opposite to the first door body; the driving assembly is used for driving the first door body and the second door body to move relatively and oppositely so as to close and open a door opening in the perforated wall body; the position detection sensor is used for detecting the position of the inspection robot; and the control module is electrically connected with the position detection sensor and the driving assembly, and the control module is used for receiving an electric signal of the position detection sensor and controlling the driving assembly to act so as to control the first door body and the second door body to act. According to the utility model, the technical effect that cross virus infection caused by air circulation of different hog house units can be avoided during cross-unit operation of the track inspection robot is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot inspection equipment technical field, specifically, relate to a breeding farm cross unit track wall -penetrating automatic flat -open door structure and robot inspection system. BACKGROUND

[0002] In the large -scale automated breeding farm generally through the inspection robot carries out the inspection in the field. The inspection robot can move on the inspection track according to the set route, and the sensor, camera and other equipment on the inspection robot are used to check the field.

[0003] The existing track inspection robot is mainly limited to a breeding farm shed unit, if connecting multiple breeding farm shed units, air circulation between different shed units can easily cause cross virus infection. UTILITY MODEL CONTENTS

[0004] The utility model discloses a kind of breeding farm cross unit track wall-penetrating automatic flat-open door structures, to solve the problem that the inspection robot cannot cross unit operation in the related art due to biological prevention and control limit.

[0005] To achieve the above purpose, the utility model provides a kind of breeding farm cross unit track wall-penetrating automatic flat-open door structure, for being installed on the wall of opening, including:

[0006] First door body, the first door body is located in the first side of the wall of opening;

[0007] Second door body, the second door body is located in the first side of the wall of opening and opposite with the first door body;

[0008] Drive assembly, the drive assembly is used to drive the first door body and the second door body relative movement and opposite movement, to close and open the door hole on the wall of opening;

[0009] Position detection sensor, for detecting the position of the inspection robot;

[0010] Control module, the control module is electrically connected with the position detection sensor, the drive assembly, the control module is used to receive the electrical signal of the position detection sensor and control the drive assembly action, to control the first door body and second door body action.

[0011] Further, it further includes guide rail structure, the first door body and the second door body are provided with slider, the slider is slidably connected with the guide rail structure, and the movement of the first door body and the second door body is guided by the cooperation of the slider and the guide rail structure.

[0012] Further, the guide rail structure is arranged as two groups distributed up and down, the first door body and the second door body are both provided with sliding blocks at upper and lower ends, and the sliding blocks are in sliding connection with the corresponding guide rail structure.

[0013] Further, the guide rail structure comprises guide rods, two ends of the guide rods are fixedly connected with the first side of the hole wall, the first door body is provided with two sliding blocks at upper and lower ends respectively, and the second door body is provided with two sliding blocks at upper and lower ends respectively.

[0014] Further, the position detection sensor is arranged as two and located at the first side and the second side of the hole wall respectively, the two position detection sensors are used for detecting first and second positions of the inspection robot respectively, the first position is a position for triggering the first door body and the second door body to move away from each other, and the second position is a position for triggering the first door body and the second door body to move relative to each other.

[0015] Further, the support is further arranged at the first side and the second side of the hole wall respectively, and the position detection sensor is fixedly arranged at the lower end of the support.

[0016] Further, the position detection sensor comprises a Hall sensor.

[0017] Further, the driving assembly comprises a base, a motor, a first transmission wheel, a second transmission wheel and a transmission member.

[0018] The base is used for being fixed on the hole wall, the first transmission wheel and the second transmission wheel are rotatably arranged at two ends of the base respectively, two ends of the transmission member are sleeved on the first transmission wheel and the second transmission wheel respectively, the motor is in transmission connection with the first transmission wheel, the upper part of the transmission member is connected with the first door body through a first connecting piece, and the lower part of the transmission member is connected with the second door body through a second connecting piece.

[0019] Further, the first transmission wheel and the second transmission wheel are both arranged as sprockets, and the transmission member is arranged as a chain.

[0020] According to another aspect of the utility model, provide a kind of farm robot inspection system, including inspection robot, inspection track and above farm cross-cell track wall automatic flat opening door structure.

[0021] The first door body and the second door body arranged on the side of the opening wall body can be opened and closed, the position of the inspection robot is detected by the position detection sensor during the inspection process, the first door body and the second door body are closed to the door opening on the opening wall body in the normal state, and air flow between adjacent hole shed units is avoided. When the position detection sensor detects that the inspection robot approaches the door body during the inspection process, an electric signal is transmitted to the control module, the control module controls the driving assembly to drive the first door body and the second door body to move in opposite directions to open the door opening, so that the inspection robot can enter the next hole shed unit. When the position detection sensor detects that the inspection robot passes through the door opening, an electric signal is transmitted to the control module again, the control module controls the driving assembly to drive the first door body and the second door body to move in opposite directions to close the door opening, so that air flow between adjacent hole shed units is avoided, thereby realizing the technical effect that cross-virus infection caused by air flow between different pig shed units can be avoided when the track inspection robot crosses the unit, and the problem that the inspection robot cannot cross the unit due to biological prevention and control in the related art is solved. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which form a part of this description, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The embodiments of the application illustrated in the drawings are presented to explain the present application and not intended to limit or restrict the present application in any way. In the drawings:

[0023] Figure 1 is a structural schematic view of the cross-unit track wall-penetrating automatic flat-opening door structure of the farm according to an embodiment of the present application;

[0024] Among them, 1 is a first door body, 2 is a second door body, 3 is a support piece, 4 is an inspection track, 5 is an inspection robot, 6 is a driving assembly, 60 is a motor, 61 is a first transmission wheel, 62 is a second transmission wheel, 63 is a base, 64 is a transmission piece, 7 is a position detection sensor, 8 is a sliding block, and 9 is a guide rail structure. DETAILED DESCRIPTION

[0025] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", and the like in the description and claims of the utility model and the above drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the utility model described herein.

[0027] In the utility model, the orientation or position relationship indicated by the terms "upper", "lower", "inner", and the like is based on the orientation or position relationship shown in the drawings. These terms are mainly used to better describe the utility model and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0028] In addition to indicating the orientation or position relationship, the above-mentioned terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain attachment relationship or connection relationship in some cases. For ordinary skilled persons in the art, the specific meaning of these terms in the utility model can be understood according to the specific circumstances.

[0029] In addition, the terms "set", "provided with", "connected", "fixed", and the like should be broadly understood. For example, "connected" can be fixed connection, detachable connection, or integral structure; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium, or internal communication between two devices, elements or components. For ordinary skilled persons in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances.

[0030] In addition, the meaning of the term "a plurality of" should be two and more than two.

[0031] It should be noted that the embodiments in the utility model and the features in the embodiments can be combined with each other without conflict. The utility model will be described in detail below with reference to the drawings and in combination with the embodiments.

[0032] To solve the related technical problems, as shown in Figure 1 The utility model discloses a farm cross unit track wall automatic flat -open door structure, for installing on the open hole wall body, comprising:

[0033] The first door body 1 is arranged on the first side of the open hole wall body.

[0034] The second door body 2 is arranged on the first side of the open hole wall body and opposite the first door body 1.

[0035] The driving assembly 6 is used to drive the first door body 1 and the second door body 2 to move oppositely and move away, to close and open the door hole on the open hole wall body.

[0036] a position detection sensor 7 for detecting the position of the inspection robot 5;

[0037] a control module electrically connected with the position detection sensor 7 and the driving assembly 6, the control module being configured to receive the electrical signal from the position detection sensor 7 and control the driving assembly 6 to actuate the first door body 1 and the second door body 2.

[0038] In the present embodiment, the automatic swing door structure is applied in an environment where adjacent stall units are connected through door openings on a wall, and the automatic swing door structure comprises the first door body 1, the second door body 2, the driving assembly 6, the position detection sensor 7 and the control module. The first door body 1 and the second door body 2 are both installed on the first side of the wall, and in the present embodiment, the first side can be the front side or the rear side of the wall. The first door body 1 and the second door body 2 form a pair of swing doors, and the positions of the first door body 1 and the second door body 2 correspond to the positions of the door openings on the wall. When the first door body 1 and the second door body 2 are moved towards each other, the door openings can be closed, thereby preventing air flow between the adjacent stall units. When the first door body 1 and the second door body 2 are moved away from each other, the door openings can be opened, thereby allowing the inspection robot 5 to pass through the door openings and enter the next work unit. In order to facilitate the movement of the first door body 1 and the second door body 2, the driving assembly 6 is further provided in the present embodiment, and the driving assembly 6 can be controlled to drive the first door body 1 and the second door body 2 to move towards each other or away from each other, so as to close or open the door openings on the wall.

[0039] According to the movement mode of the first door body 1 and the second door body 2, the first door body 1 and the second door body 2 are both linear reciprocating movement, and therefore the driving assembly 6 can adopt a structure capable of outputting linear reciprocating movement, such as a screw and slider structure, a crank and connecting rod structure, etc., which are not limited in the present embodiment. In the present embodiment, the timing of opening the first door body 1 and the second door body 2 is when the inspection robot 5 needs to pass through the door openings and enter the next work unit. The timing of closing the first door body 1 and the second door body 2 is when the inspection robot 5 has completely passed through the door openings. This timing can be expressed by the position of the inspection robot 5, for example, when the front end of the inspection robot 5 is close to the first door body 1 and the second door body 2, it indicates that the inspection robot 5 needs to pass through the door openings, and similarly, when the rear end of the robot is a distance away from the first door body 1 and the second door body 2, it indicates that the inspection robot 5 has completely passed through the door openings. Therefore, in the present embodiment, the position of the inspection robot 5 is detected by the position detection sensor 7, and the control module controls the first door body 1 and the second door body 2 to act based on the position of the inspection robot 5, so as to realize the timely opening and closing of the first door body 1 and the second door body 2.

[0040] The utility model discloses a technical effect that can avoid cross-virus infection caused by air circulation of different pig house units when the track inspection robot 5 crosses the units, and further solve the problem that the track inspection robot 5 is limited by biological prevention and control, so that the track inspection robot 5 cannot cross the units.

[0041] In one embodiment, as shown in Figure 1 In order to enable the first door body 1 and the second door body 2 to move linearly accurately, the automatic vertical hinged door structure further comprises a guide rail structure 9, the first door body 1 and the second door body 2 are provided with sliding blocks 8, the sliding blocks 8 are slidably connected with the guide rail structure 9, and the movement of the first door body 1 and the second door body 2 is guided by cooperation of the sliding blocks 8 and the guide rail structure 9.

[0042] In a specific embodiment, the guide rail structure 9 is arranged in two groups distributed upwards and downwards, the upper and lower ends of the first door body 1 and the second door body 2 are provided with the sliding blocks 8, and the sliding blocks 8 are slidably connected with the corresponding guide rail structure 9. Through the two groups of guide rail structures 9, the first door body 1 and the second door body 2 can be uniformly stressed during movement, so that the offset affecting the sealing performance is avoided.

[0043] In a preferred embodiment, the guide rail structure 9 comprises guide rods, the two ends of the guide rods are fixedly connected with the first side of the holed wall body and can be fixed with the wall body through bolts, the upper end and the lower end of the first door body 1 are respectively provided with two sliding blocks 8, the upper end and the lower end of the second door body 2 are respectively provided with two sliding blocks 8, and the sliding blocks 8 can be fixed on the corresponding door body through screws.

[0044] Since the relative movement and opposite movement of the first door body 1 and the second door body 2 need to be controlled according to different positions of the track inspection robot 5, the position detection sensors 7 in the embodiment are arranged in two groups and located at the first side and the second side of the holed wall body respectively, and the two position detection sensors 7 are respectively used for detecting the first position and the second position of the track inspection robot 5, the first position is the position for triggering the opposite movement of the first door body 1 and the second door body 2, and the second position is the position for triggering the relative movement of the first door body 1 and the second door body 2.

[0045] Specifically, the position detection sensors 7 can be arranged at the first position and the second position respectively, the position detection sensors 7 are triggered when the track inspection robot 5 moves to the first position, so that the first door body 1 and the second door body 2 are opened. Another position detection sensor 7 is triggered when the track inspection robot 5 moves to the second position through the door hole, so that the first door body 1 and the second door body 2 are closed.

[0046] In order to facilitate the installation of the position detection sensor 7, the embodiment further comprises a support 3, which is arranged on the first side and the second side of the opening wall respectively, and the position detection sensor is fixedly arranged at the lower end of the support 3. As a preferred embodiment, the support 3 can be a hook-shaped rigid structure, and the position detection sensor comprises a Hall sensor.

[0047] As shown in Figure 1 In an embodiment of the driving assembly 6, the driving assembly 6 comprises a base 63, a motor 60, a first transmission wheel 61, a second transmission wheel 62 and a transmission member 64.

[0048] The base 63 is used for being fixed on the opening wall, the first transmission wheel 61 and the second transmission wheel 62 are rotatably arranged at the two ends of the base 63 respectively, the transmission member 64 is sleeved on the first transmission wheel 61 and the second transmission wheel 62 respectively at the two ends, the motor 60 is in transmission connection with the first transmission wheel 61, the upper part of the transmission member 64 is connected with the first door body 1 through a first connecting member, and the lower part of the transmission member 64 is connected with the second door body 2 through a second connecting member.

[0049] Further, the first transmission wheel 61 and the second transmission wheel 62 are both arranged as sprockets, and the transmission member 64 is arranged as a chain.

[0050] Specifically, in the embodiment, the first transmission wheel 61 is controlled to rotate by the motor 60, and the second transmission wheel 62 is synchronously rotated under the action of the chain. With the forward rotation and the reverse rotation of the motor 60, the upper part and the lower part of the chain move relatively or move away from each other, so as to drive the first door body 1 and the second door body 2 to move relatively or move away from each other. The first connecting member and the second connecting member can be rigid connecting strips, the upper ends of which are fixed through a clamping plate type structure corresponding to the chain, and the lower ends are fixed to the corresponding door bodies through screws.

[0051] According to another aspect of the utility model, a kind of farm robot inspection system, including inspection robot 5, inspection track 4 and above-mentioned farm cross unit track wall automatic flat opening door structure. The embodiment can be steel wire rope track for inspection track 4, and the opposite side of the first door body 1 and the second door body 2 can be arranged with the groove cooperating with the profile of inspection track 4, so as to ensure certain sealing performance after closing.

[0052] The above only describes preferred embodiments of the utility model and is not used to limit the utility model. For those skilled in the art, the utility model can be changed and varied in various ways. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A farm crossing unit rail wall automatic swing door structure, characterized in that, For being installed on the open hole wall body, comprising: The first door body is arranged on the first side of the open hole wall body; The second door body is arranged on the first side of the open hole wall body and opposite to the first door body; The driving assembly is used for driving the first door body and the second door body to move oppositely and reversely to close and open the door hole on the open hole wall body; The position detection sensor is used for detecting the position of the inspection robot; The control module is electrically connected with the position detection sensor and the driving assembly, and is used for receiving the electrical signal of the position detection sensor and controlling the action of the driving assembly to control the action of the first door body and the second door body.

2. The farm cross-unit rail wall-automatically sliding door structure according to claim 1, characterized in that, Further comprising a guide rail structure, the first door body and the second door body are provided with sliding blocks, the sliding blocks are slidingly connected with the guide rail structure, and the movement of the first door body and the second door body is guided by the cooperation of the sliding blocks and the guide rail structure.

3. The farm cross-unit rail wall-automatically sliding door structure according to claim 2, characterized in that, The guide rail structure is arranged in two groups distributed upward and downward, the upper and lower ends of the first door body and the second door body are provided with sliding blocks, and the sliding blocks are slidingly connected with the corresponding guide rail structure.

4. The farm cross-unit rail wall automatic vertical hinged door structure according to claim 3, characterized in that, The guide rail structure comprises guide rods, the two ends of the guide rods are fixedly connected with the first side of the open hole wall body, the upper end and the lower end of the first door body are respectively provided with two sliding blocks, and the upper end and the lower end of the second door body are respectively provided with two sliding blocks.

5. The farm cross-unit rail wall-automatically-plain-hinged door structure according to claim 1, characterized in that, The position detection sensor is arranged in two groups and located on the first side and the second side of the open hole wall body, the two position detection sensors are respectively used for detecting the first position and the second position of the inspection robot, the first position is the position for triggering the reverse movement of the first door body and the second door body, and the second position is the position for triggering the opposite movement of the first door body and the second door body.

6. The farm cross-unit rail wall automatic vertical hinged door structure according to claim 5, characterized in that, Further comprising a support, the support is arranged on the first side and the second side of the open hole wall body, and the position detection sensor is fixedly arranged at the lower end of the support.

7. The farm cross-unit rail wall-automatically-plain-hinged door structure according to claim 1, characterized in that, The position detection sensor comprises a Hall sensor.

8. The farm cross-unit rail wall-automatically-plain-hinged door structure according to claim 1, characterized in that, The driving assembly comprises a base, a motor, a first transmission wheel, a second transmission wheel and a transmission member; The base is used for being fixed on the open hole wall body, the first transmission wheel and the second transmission wheel are rotatably installed at the two ends of the base, the two ends of the transmission member are sleeved on the first transmission wheel and the second transmission wheel, the motor is in transmission connection with the first transmission wheel, the upper part of the transmission member is connected with the first door body through a first connecting member, and the lower part of the transmission member is connected with the second door body through a second connecting member.

9. The farm cross-unit rail wall automatic vertical hinged door structure according to claim 8, characterized in that, The first transmission wheel and the second transmission wheel are both arranged as sprockets, and the transmission member is arranged as a chain.

10. A farm robot inspection system, characterized by, The inspection robot, the inspection track and the farm crossing unit track wall automatic flat sliding door structure according to any one of claims 1 to 9 are comprised.

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