Livestock vaccine robot with multifunctional independent chassis

Abstract

The utility model relates to a livestock vaccine robot with a multifunctional independent chassis, and solves the problems that a chassis and an execution part of an existing vaccine robot are of an integrated structure, the chassis and the execution part cannot be replaced, and the chassis is single in function. A power source and a control part are installed in a walking chassis of the device, a mechanical arm is carried on the upper surface of the walking chassis, a vaccine injector is clamped at the front end of the mechanical arm, a first upper cover plate and a second upper cover plate which are spliced with each other are arranged on the top face of the walking chassis, and the mechanical arm is fixedly carried above the first upper cover plate; a horizontal groove is formed in the circumference of the waist of the walking chassis, a front radar and a rear radar are arranged in the horizontal groove in an opposite angle mode, and a communication antenna is further arranged in the horizontal groove. The base plate and the functional parts can be separated and recombined, the base plate can achieve multiple functions of walking, positioning, scene exploration, navigation, communication and the like, the automatic vaccine inoculation device is suitable for automatic operation of livestock breeding places, and automatic vaccine inoculation can be achieved after a vaccine mechanical arm is carried.

Description

Technical Field

[0001] This utility model belongs to the field of livestock breeding equipment, and relates to a vaccination device in animal husbandry, and particularly to a livestock vaccine robot with a multi-functional independent chassis. Background Technology

[0002] Livestock farming is a pillar industry in my country's agricultural sector. Its development is crucial to the sufficiency of meat on the tables of the general public and the overall health of the Chinese people. my country's livestock farming industry is experiencing rapid development in both scale and technology, with methods quickly shifting from free-range manual farming to centralized and automated operations.

[0003] Taking pig farming as an example, during the rapid development of the industry, disease prevention and control has always been a key bottleneck restricting the safe development of pig farming. The existing disease prevention system mainly uses traditional needle injection of vaccines combined with manual spraying of disinfectant to control diseases. Vaccination is highly dependent on manual labor, while the harsh working environment in livestock sheds, high labor demand, and frequent human-animal contact increase the risk of zoonotic disease transmission. Strengthening the application of big data, artificial intelligence, and agricultural robots in pig farming, and developing precise, efficient, intelligent, and reliable livestock robots, are effective means to address the difficulty of manual vaccination in pig farming.

[0004] The applicant's earlier application, CN113599013A, discloses a swine vaccine injection robot and a vaccine injection method. This robot, used in animal husbandry, includes a wheeled mobile platform, a six-degree-of-freedom (6DOF) collaborative robotic arm, a needleless syringe, an RGB-D camera, a camera bracket, and a control system. The 6DOF collaborative robotic arm is connected to the wheeled mobile platform. The needleless syringe has a handle and an injection head, with the handle fixedly connected to the end flange of the 6DOF collaborative robotic arm. The camera bracket is connected to the end of the 6DOF collaborative robotic arm, and the RGB-D camera is fixedly connected to the camera bracket. The wheeled mobile platform includes a main controller and a motor driver, with the motor driver connected to the main controller. However, the wheeled mobile platform has a box-like structure, and it is integrated with the upper execution components. Therefore, the wheeled mobile platform cannot be used independently as a general-purpose chassis, and its function is relatively limited, making it unsuitable for replacing and mounting other functional components. Furthermore, the robot's wheeled mobile platform is quite tall, around 60cm, while the demand for vaccination of pigs is concentrated in young piglets, whose height is generally around 30cm and does not exceed 50cm. The high center of gravity of this vaccine injection robot causes significant shaking during movement, which increases the difficulty of positioning the robotic arm in actual testing. In addition, piglets are prone to stress reactions to the large-sized vaccine robot during vaccination. Utility Model Content

[0005] The purpose of this invention is to solve the problems of existing vaccine robot chassis and actuators being integrated, making it impossible to replace the chassis and actuators, and the chassis having a single function. This invention provides a livestock vaccine robot with a multi-functional independent chassis. Furthermore, the structure of this invention reduces the height of the chassis, reduces vibration during movement, facilitates robotic arm positioning, and also reduces the stress response of piglets awaiting vaccination to the large robot.

[0006] The technical solution adopted by this utility model to solve its technical problem is: a livestock vaccine robot with a multi-functional independent chassis, including a walking chassis, a power supply and control components installed inside the walking chassis, a mechanical arm mounted on the upper surface of the walking chassis, a vaccine syringe clamped at the front end of the mechanical arm, walking wheels provided at the bottom of the walking chassis, a detachable upper cover plate provided on the top surface of the walking chassis, the upper cover plate including a first upper cover plate and a second upper cover plate that are spliced ​​together, the mechanical arm fixedly mounted on the top of the first upper cover plate, a horizontal groove opened around the waist of the walking chassis, a front radar and a rear radar respectively provided in the horizontal grooves at two opposite corners of the walking chassis, and a communication antenna provided in the horizontal grooves on both sides of the walking chassis.

[0007] The functional components of this device are a robotic arm and a vaccine syringe at the end of the robotic arm. The functional components and the walking chassis adopt a modular assembly structure. By replacing the first upper cover plate carrying the functional components, other livestock functional components can be mounted on the walking chassis of this solution to form other types of livestock robots, such as livestock disinfection robots. After the functional components mounted on the first upper cover plate are determined and installed, the second upper cover plate can be used as an opening and closing cover to facilitate the installation and maintenance of the control components and power supply inside the walking chassis. The control components and power supply of the walking chassis are located inside. A horizontal groove is set around the waist of the walking chassis. At the two corners opposite to the horizontal groove, the front radar and the rear radar are respectively set. This not only allows the front radar and the rear radar to be placed inside the outline of the walking chassis to avoid exposure and collision damage, but also ensures that the front radar and the rear radar have a 270-degree coverage range, and the recognition areas of the front radar and the rear radar can overlap to avoid blind spots. The horizontal groove includes an upper sidewall, a lower sidewall, and a vertical bottom. The communication antenna extends from the chassis and is fitted to the bottom of the groove. This design avoids shielding effects caused by placement inside the chassis and allows it to be recessed within the chassis's outer contour, preventing impacts and minimizing obstruction of radar coverage. The chassis and functional components are separable and reconfigurable. The chassis can carry other functional components, enabling multiple functions such as walking, positioning, scene detection, navigation, and communication. It is suitable for automated operation in livestock farms and, when equipped with a robotic vaccine arm, can achieve automated swine vaccination.

[0008] Preferably, a cable tray is provided above the first upper cover plate, and the robotic arm is mounted on the cable tray. A wiring hole for the robotic arm is provided below the cable tray, spanning between the first and second upper cover plates. The mounting base of the robotic arm is raised by the cable tray, and the space below the cable tray facilitates wiring of the robotic arm to the control components inside the chassis. After the second upper cover plate is removed, the wiring hole is a half-hole, eliminating the need for the wiring harness to pass through the hole. It can be inserted into the half-hole from the open side. After the second upper cover plate is assembled, a complete wiring harness is secured. This design reduces the operating space requirements below the upper cover plate and lowers the overall height of the chassis.

[0009] Preferably, both the front and rear radars are completely located inside the horizontal groove and within the outer contour of the chassis. The horizontal groove completely penetrates the waist circumference of the chassis, and the working angle of the front and rear radars is 270 degrees.

[0010] Preferably, the communication antenna is attached to the bottom of the horizontal groove.

[0011] Preferably, the horizontal groove has a wiring hole at the bottom corresponding to the communication antenna.

[0012] Preferably, the chassis is a square chassis, and the wheels on the bottom surface of the chassis include driving wheels and driven wheels. The driving wheels are respectively arranged on the middle of both sides of the bottom surface of the chassis, and the driven wheels are respectively arranged at the four corners of the bottom surface of the chassis. The driven wheels are omnidirectional wheels. The driving wheels perform the functions of forward, backward, and turning, and the driven wheels provide support accordingly.

[0013] Preferably, the casters are elastically arranged in the vertical direction.

[0014] Preferably, the top surface height of the walking chassis does not exceed 35cm. Compressing the chassis height to below 35cm brings it in line with the height of young piglets requiring vaccination, reducing stress on piglets from tall mechanical equipment.

[0015] Preferably, the surface of the second upper cover plate has several perforated grooves and fixing holes.

[0016] The chassis and functional components of this utility model can be separated and reassembled. The chassis can carry other functional components. The chassis of this device can realize multiple functions such as walking, positioning, scene exploration, navigation, and communication. It is suitable for automatic operation in livestock breeding sites. After being equipped with a vaccine robotic arm, it can realize automated vaccination of pigs. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1This is a side view structural diagram of this utility model.

[0019] Figure 2 This is a three-dimensional structural diagram of the present invention.

[0020] Figure 3 This is a schematic diagram of the bottom structure of this utility model.

[0021] In the diagram: 1. Walking chassis, 2. Bridge frame, 3. Robotic arm, 4. Syringe clamp, 5. Horizontal groove, 6. Front radar, 7. Rear radar, 8. Communication antenna, 9. Drive wheel, 10. Passive wheel, 11. First upper cover plate, 12. Second upper cover plate, 13. Robotic arm wiring hole. Detailed Implementation

[0022] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0023] Example: A livestock vaccine robot with a multi-functional independent chassis, such as... Figure 1 , 2 As shown. This device includes a walking chassis 1, inside which power supply and control components are installed. A robotic arm 3 is mounted on the upper surface of the walking chassis, and a vaccine syringe is clamped at the front end of the robotic arm via a syringe gripper 4 (not shown in the figure).

[0024] The top surface of the chassis is 30cm high. The top surface of the chassis 1 is equipped with a detachable upper cover plate, which includes a first upper cover plate 11 and a second upper cover plate 12 that are joined together, as shown below. Figure 2 As shown, a cable tray 2 is installed above the first upper cover plate 11, and the robotic arm 3 is mounted on the cable tray 2. A robotic arm wiring hole 13 is opened directly below the cable tray 2, spanning both sides of the seam between the first upper cover plate 11 and the second upper cover plate 12. Wiring harnesses can run straight upwards from the wiring hole to connect to the robotic arm 3. The mounting base of the robotic arm is raised using the cable tray, and the space below the cable tray facilitates wiring of the robotic arm to control components inside the chassis. After the second upper cover plate is removed, the wiring hole 13 is a half-hole, eliminating the need for the wiring harness to pass through; it only needs to be inserted into the half-hole from the open side. After the second upper cover plate is assembled, a complete wiring harness is secured. This design reduces the operating space requirements below the upper cover plate and lowers the overall height of the chassis. Several perforated grooves and fixing holes are pre-drilled on the surface of the second upper cover plate for fixing other components.

[0025] A horizontal groove 5 is formed around the waist of the chassis 1. The groove has a horizontal upper wall, a lower wall, and a vertical bottom. A front radar 6 and a rear radar 7 are respectively installed in the horizontal grooves at two opposite corners of the chassis. Communication antennas 8 are installed in the horizontal grooves on both sides of the chassis 1. Both the front radar 6 and the rear radar 7 are completely inside the horizontal groove, located within the outer contour of the chassis. They are positioned on the upper or lower wall of the groove, with a gap between them and the bottom to ensure a wider detection angle. The horizontal groove 7 completely penetrates the waist of the chassis 1. The working angle of the front and rear radars is 270 degrees. This arrangement ensures a sufficiently large coverage area for both radars, with overlapping coverage areas to reduce blind spots. The communication antennas 8 are attached to the bottom of the horizontal grooves. Wiring holes are provided in the bottom of the horizontal grooves corresponding to the communication antennas.

[0026] The walking chassis 1 is a square chassis, such as Figure 3 As shown, the chassis has wheels at its bottom, including drive wheels 9 and driven wheels 10. The drive wheels are located on the center of both sides of the chassis bottom, and the driven wheels are located at the four corners of the chassis bottom. The driven wheels are omnidirectional wheels. The omnidirectional wheels are elastically arranged in the vertical direction to ensure that the drive wheels and driven wheels touch the ground simultaneously.

Claims

1. A livestock vaccine robot with a multifunctional independent chassis, comprising a walking chassis, a power supply and control components installed inside the walking chassis, a robotic arm mounted on the upper surface of the walking chassis, and a vaccine syringe clamped at the front end of the robotic arm, characterized in that: The chassis is equipped with wheels at the bottom and a detachable top cover on the top surface. The top cover includes a first top cover and a second top cover that are joined together. A robotic arm is fixedly mounted on the top of the first top cover. A horizontal groove is formed around the waist of the chassis. A front radar and a rear radar are respectively installed in the horizontal grooves at two opposite corners of the chassis. Communication antennas are installed in the horizontal grooves on both sides of the chassis.

2. The livestock vaccine robot with a multifunctional independent chassis according to claim 1, characterized in that: A cable tray is provided above the first upper cover plate, and the robotic arm is installed above the cable tray. A wiring hole for the robotic arm is provided below the cable tray, and the wiring hole for the robotic arm spans between the first upper cover plate and the second upper cover plate.

3. The livestock vaccine robot with a multifunctional independent chassis according to claim 1, characterized in that: Both the front and rear radars are completely located inside the horizontal groove, within the outer contour of the chassis. The horizontal groove completely penetrates the waist circumference of the chassis, and the working angle of the front and rear radars is 270 degrees.

4. The livestock vaccine robot with a multifunctional independent chassis according to claim 1, characterized in that: The communication antenna is attached to the bottom of the horizontal groove.

5. A livestock vaccine robot with a multifunctional independent chassis according to claim 1 or 4, characterized in that: The horizontal groove and the groove bottom corresponding to the communication antenna have wiring holes.

6. The livestock vaccine robot with a multi-functional independent chassis according to claim 1, characterized in that: The chassis is a square chassis, and the wheels on the bottom surface of the chassis include driving wheels and driven wheels. The driving wheels are respectively arranged in the middle of both sides of the bottom surface of the chassis, and the driven wheels are respectively arranged in the four corners of the bottom surface of the chassis. The driven wheels are omnidirectional wheels.

7. A livestock vaccine robot with a multifunctional independent chassis according to claim 6, characterized in that: The casters are flexibly positioned in the vertical direction.

8. A livestock vaccine robot with a multifunctional independent chassis according to claim 1, characterized in that: The top height of the chassis does not exceed 35cm.

9. A livestock vaccine robot with a multifunctional independent chassis according to claim 1, characterized in that: The surface of the second upper cover plate has several perforated grooves and fixing holes.

Images