Rail-mounted breeding house environment monitoring robot

Abstract

The utility model relates to a kind of rail type breeding house environment monitoring robot in the field of environmental monitoring technology, including control box, lifting mechanism, and be erected in the track of breeding house, the mobile mechanism is installed on the outer top surface of control box, the mobile mechanism is hung on track and can be positioned along track movement, the upper end of lifting mechanism is installed in the lower part of control box, the lower end of lifting mechanism is installed with image acquisition device and environmental detection device, to be used to drive image acquisition device and environmental detection device lifting movement positioning;The environment monitoring robot adopts the design of hanging type track movement and lifting multi-height comprehensive monitoring, satisfies the efficient, economic environmental monitoring demand of modern pig industry.

Description

Technical Field

[0001] This utility model relates to the field of environmental monitoring technology, and in particular to a rail-mounted environmental monitoring robot for livestock sheds. Background Technology

[0002] As is widely known, animal husbandry is an important pillar of my country's agricultural production, especially pig farming, which plays a key role in ensuring the safe supply of meat. At present, pig farms in my country generally adopt a closed design, and environmental factors such as temperature and humidity fluctuate greatly. Harmful gases are also difficult to dissipate, which seriously affects and threatens the growth and reproduction of pigs. In order to monitor the internal environment of pig houses and the growth status of pigs in real time, multiple sensors are usually installed for monitoring. Pigsty environmental monitoring is mainly divided into two types: traditional fixed monitoring and mobile robot monitoring. Fixed monitoring requires the deployment of a large number of sensors in the farm to achieve comprehensive coverage, but it is costly and inconvenient to maintain. For example, Chinese utility model patent CN214621528U discloses a temperature monitoring device for pigsties. By installing the temperature monitoring device on a sliding rail on the wall and allowing it to slide up and down, the problem of monitoring the vertical space of the pigsty is solved, and the equipment cost is reduced. However, the drawback of this prior art is that the monitoring range is still not wide enough, and it cannot achieve efficient and comprehensive environmental monitoring. Utility Model Content

[0003] In order to overcome the shortcomings of the background technology and solve the existing technical problems, this utility model discloses a rail-mounted animal husbandry shed environmental monitoring robot, which adopts a rail-mounted movement design and multi-height lifting for comprehensive monitoring, meeting the needs of modern pig farming for efficient and economical environmental monitoring.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A rail-mounted environmental monitoring robot for livestock sheds includes a control box, a lifting mechanism, and a track installed inside the livestock shed. A moving mechanism is installed on the top surface of the control box and is mounted on the track, enabling it to move and position itself along the track. The upper end of the lifting mechanism is installed at the lower part of the control box, and an image acquisition device and an environmental detection device are installed at the lower end of the lifting mechanism to drive the image acquisition device and the environmental detection device to move and position themselves.

[0005] Furthermore, the moving mechanism includes two spaced-apart clamping wheel sets, the upper part of which is rolled and clamped onto the track, and the lower part of which is rotatably connected to the outer top surface of the control box.

[0006] Furthermore, the track is an inverted T-shaped structure composed of a web and a wing plate. The clamping wheel set includes a wheel frame plate. Two bearing seats are symmetrically installed on both sides of the upper plate of the wheel frame plate. The inner sides of the two bearing seats are rotatably mounted with a hanging wheel via a horizontal axle, so that the wheel surfaces of the two hanging wheels roll against the two sides of the upper plate of the wing plate of the track. The middle of the lower plate of the wheel frame plate is rotatably connected to the control box via a rotating shaft perpendicular to the track wing plate. A mobile motor for driving the rotation of the corresponding hanging wheel is installed on the plate surface of the wheel frame plate of any clamping wheel set.

[0007] Furthermore, two guide wheels are symmetrically provided on both sides of the end of the wheel frame plate. The guide wheels are rotatably mounted on the wheel frame plate via a vertical wheel axle, so that the wheel surface of the guide wheel corresponds to the corresponding side of the track wing plate.

[0008] Furthermore, a cover is fixed to the top surface of the control box, the moving mechanism is located inside the cover, and both ends of the cover are provided with corresponding rail openings through which a cleaning brush is installed.

[0009] Furthermore, the lifting mechanism includes a sliding plate, a lifting groove plate, and two telescopic folding structures symmetrically arranged on both sides of the lifting groove plate. The bottom plate of the control box is fixed with a slide rail along the length of the control box. The sliding plate is fitted onto the slide rail and can move and be positioned along the slide rail. Both groove walls of the lifting groove plate are provided with elongated holes along the slide rail direction, and short hinge shafts are slidably inserted into the elongated holes. The telescopic folding structure is composed of multiple scissor units connected sequentially from top to bottom. Each scissor unit includes two long connecting plates hinged in the middle. The ends of the two connecting plates of two adjacent scissor units are correspondingly hinged through long connecting shafts. The upper ends of the two connecting plates of the uppermost scissor unit are rotatably connected to the bottom plate and the sliding plate of the control box, respectively. The lower ends of the two connecting plates of the lowermost scissor unit are rotatably connected to the lifting groove plate and the short hinge shaft, respectively.

[0010] Furthermore, two slide rails are arranged side by side at intervals, and a rack is provided between the two slide rails along the direction of the slide rail. A worm gear reducer is installed on the upper surface of the sliding plate. The worm of the worm gear reducer is connected to a drive motor, and the worm wheel of the worm gear reducer is coaxially connected to a gear that meshes with the rack.

[0011] Furthermore, limit switches with corresponding sliding plates are installed at both ends of the control box.

[0012] Furthermore, the image acquisition device includes a camera, and the environmental detection device includes a temperature sensor, a humidity sensor, an infrared sensor, and a sound sensor.

[0013] Furthermore, a partition is provided in the middle of the control box, and a controller is installed on the surface of the partition. The controller is connected to the moving mechanism and the lifting mechanism respectively.

[0014] By adopting the technical solution described above, this utility model has the following beneficial effects: The rail-mounted environmental monitoring robot for pig farms disclosed in this utility model can move along a track erected inside the pig farm through a moving mechanism and a lifting mechanism, which enables the image acquisition device and environmental detection device to move over a wider range in the pig farm. This reduces the cost of monitoring equipment and enables more comprehensive monitoring, meeting the needs of modern pig farming for efficient and economical environmental monitoring. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of an embodiment of the present utility model; Figure 2 This is a schematic diagram of the internal structure of the cover and control box of this utility model; Figure 3 This is a schematic diagram of the structure of the moving mechanism; Figure 4 This is a structural schematic diagram of the lifting mechanism; Figure 5 This is a schematic diagram of the layout structure of the track in the breeding shed.

[0016] In the diagram: 1. Track; 2. Box housing; 3. Moving mechanism; 301. Wheel frame plate; 302. Bearing seat; 303. Hanging wheel; 304. Horizontal wheel axle; 305. Moving motor; 306. Guide wheel; 4. Rotating shaft; 5. Control box; 6. Lifting mechanism; 601. Long connecting plate; 602. Short hinge shaft; 603. Drive motor; 604. Worm gear reducer; 605. Sliding plate; 606. Gear; 607. Rack; 608. Slide rail; 609. Long connecting shaft; 610. Lifting trough plate; 611. Long slot; 7. Environmental monitoring device; 8. Image acquisition device; 9. Cleaning brush; 10. Limit switch; 11. Controller; 12. Partition. Detailed Implementation

[0017] The technical solution of this utility model will be described below with reference to the accompanying drawings of the embodiments of this utility model. In the description, it should be understood that if there are terms such as "upper", "lower", "front", "rear", "left", "right" indicating the orientation or positional relationship, they are only corresponding to the drawings of this utility model for the convenience of describing this utility model, and do not indicate or imply that the device or element referred to must have a specific orientation. Example 1:

[0018] Combined with appendix Figure 1-2The aforementioned rail-mounted animal husbandry shed environmental monitoring robot includes a control box 5, a lifting mechanism 6, and a track 1 installed inside the animal husbandry shed. In the case of a rail-mounted design, the track 1 is typically suspended from the roof of the shed by multiple booms. The specific trajectory of the track 1 depends on the size and shape of the shed, ensuring coverage of more areas. The track 1 can be made of aluminum alloy, which is characterized by high hardness, light weight, and corrosion resistance, meeting the robot's requirements. A moving mechanism 3 is installed on the top surface of the control box 5. The moving mechanism 3 is mounted on the track 1 and can move and position along it. Specifically, the moving mechanism 3 can be a trolley that moves along the track 1. The upper end of the lifting mechanism 6 is installed at the lower part of the control box 5, and the lower end of the lifting mechanism 6 is equipped with an image acquisition device 8 and an environmental detection device 7 for moving and positioning these devices. The lifting mechanism 6 can be a flexible lifting mechanism such as a telescopic cylinder or a wire rope lifting mechanism, but flexible lifting mechanisms have lower stability. The image acquisition device 8 includes... The camera is used to capture images of pigs for easy monitoring in the background. The environmental detection device 7 includes temperature sensors, humidity sensors, infrared sensors, and sound sensors. The temperature sensor is used to collect the ambient temperature in the pigsty, the humidity sensor is used to monitor the humidity in the pigsty, the infrared sensor is used to collect infrared images of pigs to analyze their body temperature, and the sound sensor collects the sounds of pigs to identify potential diseases. As needed, a cover 2 is fixed to the top surface of the control box 5. The moving mechanism 3 is located inside the cover 2 and is protected by the cover 2. Both ends of the cover 2 are provided with frame openings through which the corresponding track 1 passes, ensuring that it will not obstruct movement along the track 1. A cleaning brush 9 is installed on the top of the frame opening to clean up debris and dust on the track 1 in advance, ensuring smooth movement. In addition, a partition 12 is provided in the middle of the control box 5. A controller 11 is installed on the upper surface of the partition 12. The controller 11 is connected to the moving mechanism 3 and the lifting mechanism 6 respectively. The controller 11 controls the moving mechanism 3 to move forward or backward, and to start or stop, and controls the lifting mechanism 6 to lift and position.

[0019] The rail-mounted environmental monitoring robot for livestock sheds of this invention controls the moving mechanism 3 to move along the pre-installed track 1 on the roof of the shed. This allows the image acquisition device 8 and the environmental detection device 7 to collect images, temperature, humidity, light, humidity, and even harmful gas information from different areas within the shed. Simultaneously, the lifting mechanism 6 controls the image acquisition device 8 and the environmental detection device 7 to monitor at different heights, further expanding the monitoring range and achieving comprehensive monitoring of the livestock shed. This also enhances overall safety, without affecting the normal cleaning and maintenance of the shed, especially the pigsty, thus meeting the needs of modern pig farming for efficient and economical environmental monitoring. Example 2:

[0020] If track 1 inside the pigsty is non-circulating, then the movement back and forth needs to be controlled. However, if the pigsty has a certain width, track 1 can be set to a circulating system. For example, if the pigsty is 30m long and 10m wide, the total length of track 1 is 60m, and the minimum turning radius is 750mm. (See attached diagram) Figure 5 As shown, the flexibility of the moving mechanism 3 at turns needs to be considered; as attached Figure 3 As shown, the difference from Embodiment 1 is that the moving mechanism 3 includes two spaced-apart clamping wheel sets. The two clamping wheel sets can ensure a stable mounting and more stable movement. The upper part of the clamping wheel set is rolled and clamped to the track 1, and the lower part of the clamping wheel set is rotatably connected to the outer top surface of the control box 5. In this way, when there is a certain clamping gap between the clamping wheel set and the track 1, the two clamping wheel sets can adaptively rotate and adjust their posture when turning, thereby ensuring that they can flexibly pass through the turning points of the track 1. As required, track 1 has an inverted T-shaped structure composed of a web and wing plates, enabling it to bear sufficient load. The wheel assembly includes a wheel frame plate 301, with two bearing seats 302 symmetrically mounted on both sides of the upper surface of the wheel frame plate 301. Each bearing seat 302 has a hanging wheel 303 rotatably mounted on its inner side via a horizontal axle 304, ensuring that the wheel surfaces of the two hanging wheels 303 roll against the sides of the upper surface of the wing plate of track 1, preventing derailment. The hanging wheels 303 are made of polyurethane material to ensure sufficient friction to prevent slippage. The lower surface of the wheel frame plate 301 is rotatably connected to the control box 5 via a rotating shaft 4 perpendicular to the wing plate of track 1, ensuring flexible rotational adjustment. Each wheel frame plate 301 of any wheel assembly has a moving motor 305 mounted on its surface to drive the corresponding hanging wheel 303, meaning one wheel assembly is in a driven state, which improves the robot's agility to a certain extent. The active mechanism specifically allows for the coaxial fixing of the driving wheel and driven wheel at the output shaft of the mobile motor 305 and the corresponding horizontal wheel axle 304, respectively, and the driving wheel and driven wheel are connected by a belt for transmission, thereby achieving a driving effect. In addition, two guide wheels 306 are symmetrically provided on both sides of the end of the upper plate of the wheel frame plate 301. The guide wheels 306 are rotatably mounted on the wheel frame plate 301 through a vertical wheel axle, so that the wheel surface of the guide wheel 306 corresponds to the corresponding side of the wing plate of the track 1. The wheel frame plate 301 is provided with a waist-shaped hole in the transverse direction of the wing plate of the track 1, so that the lower end of the vertical wheel axle can be threaded and can pass through the waist-shaped hole to be tightened on the wheel frame plate 301 by a nut. This arrangement is to facilitate the adjustment of the distance between the two guide wheels 306 when the nut is loosened, so that the two guide wheels 306 can tighten the two sides of the wing plate of the track 1, ensuring that the hanging wheel 303 can maintain movement along the tangential direction of the track 1 when turning along the track 1. Example 3:

[0021] As attached Figure 4As shown, the difference from Embodiment 1 is that the lifting mechanism 6 includes a sliding plate 605, a lifting groove plate 610, and two telescopic folding structures symmetrically arranged on both sides of the lifting groove plate 610. The two telescopic folding structures can ensure the stability of the lifting. The bottom plate of the control box 5 is fixed with a slide rail 608 along the length direction of the control box 5. The sliding plate 605 is snapped into the slide rail 608 and can move and be positioned along the slide rail 608. Both groove walls of the lifting groove plate 610 are provided with elongated holes 611 along the direction of the slide rail 608. Short hinge shafts 602 are slidably inserted into the elongated holes 611. The telescopic folding structure is composed of multiple scissor units connected sequentially from top to bottom. Each scissor unit includes two The long connecting plate 601 in the middle is hinged to the two connecting plates of the two adjacent scissor units. The two connecting plates are hinged to each other by a long connecting shaft 609. The corresponding hinge points of the two telescopic folding structures can share the long connecting shaft 609, thereby ensuring the stability of the entire lifting mechanism 6 and reducing shaking. The upper ends of the two connecting plates of the uppermost scissor unit are rotatably connected to the bottom plate of the control box 5 and the sliding plate 605, respectively. The lower ends of the two connecting plates of the lowermost scissor unit are rotatably connected to the lifting slot plate 610 and the short hinge shaft 602, respectively. The sliding plate 605 and the short hinge shaft 602 are located at the same end of the control box 5, so that they can move adaptively when the telescopic folding structure is lifted, extended, and folded. As needed, two slide rails 608 are arranged side by side at intervals. A rack 607 along the direction of the slide rails 608 is provided between the two slide rails 608. A worm gear reducer 604 is installed on the upper surface of the sliding plate 605. The worm of the worm gear reducer 604 is connected to a drive motor 603. The worm wheel of the worm gear reducer 604 is coaxially connected to a gear 606 that meshes with the rack 607. The drive motor 603 controls the sliding plate 605 to move and position along the slide rails 608. In addition, limit switches 10 corresponding to the sliding plate 605 are installed at both ends of the control box 5. When the sliding plate 605 moves and touches the limit switch 10, the drive motor 603 can be stopped.

[0022] The parts of this utility model not described in detail are prior art. It is obvious to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that this utility model can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the above embodiments should be regarded as exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description. Therefore, it is intended to include all changes that fall within the meaning and scope of the equivalents of the claims in this utility model, and no reference numerals in the claims should be regarded as limiting the content of the claims.

Claims

1. A rail-mounted environmental monitoring robot for livestock sheds, comprising a control box (5), a lifting mechanism (6), and a track (1) installed inside the livestock shed, wherein a moving mechanism (3) is installed on the top surface of the control box (5), the moving mechanism (3) is mounted on the track (1) and can move and position along the track (1), and the upper end of the lifting mechanism (6) is installed at the lower part of the control box (5), characterized in that: The moving mechanism (3) includes two spaced-apart clamping wheel sets; the track (1) is an inverted T-shaped structure composed of a web and a wing plate, the clamping wheel set includes a wheel frame plate (301), two bearing seats (302) are symmetrically installed on both sides of the upper plate surface of the wheel frame plate (301), and the inner sides of the two bearing seats (302) are rotatably mounted with hanging wheels (303) through horizontal wheel axles (304), so that the wheel surfaces of the two hanging wheels (303) roll against both sides of the upper plate surface of the wing plate of the track (1), and the lower plate surface of the wheel frame plate (301) is connected by a rotating shaft perpendicular to the wing plate of the track (1) at the middle. (4) Rotatably connected to the control box (5); two guide wheels (306) are symmetrically provided on both sides of the upper plate surface of the wheel frame plate (301). The guide wheels (306) are rotatably installed on the wheel frame plate (301) through a vertical wheel axle, so that the wheel surface of the guide wheel (306) corresponds to the corresponding side of the wing plate of the track (1); an image acquisition device (8) and an environmental detection device (7) are installed at the lower end of the lifting mechanism (6); the lifting mechanism (6) includes a sliding plate (605), a lifting groove plate (610) and two telescopic folding structures symmetrically provided on both sides of the lifting groove plate (610). The bottom plate of the control box (5) is fixed with a slide rail (608) along the length of the control box (5). The sliding plate (605) is fitted into the slide rail (608) and can move and be positioned along the slide rail (608). Both walls of the lifting slot plate (610) are provided with elongated holes (611) along the direction of the slide rail (608). A short hinge shaft (602) is slidably inserted into the elongated hole (611). The telescopic folding structure is composed of multiple scissor units connected sequentially from top to bottom. The upper ends of the two connecting plates of the uppermost scissor unit correspond to the bottom plate of the control box (5) and the sliding plate (605) respectively. The two connecting plates of the lowest scissor lift unit are rotatably connected to the lifting slot plate (610) and the short hinge shaft (602) respectively. Two slide rails (608) are arranged side by side at intervals. A rack (607) along the direction of the slide rail (608) is provided between the two slide rails (608). A worm gear reducer (604) is installed on the upper plate surface of the sliding plate (605). The worm of the worm gear reducer (604) is connected to a drive motor (603). The worm wheel of the worm gear reducer (604) is coaxially connected to a gear (606) that meshes with the rack (607).

2. The track-mounted livestock shed environmental monitoring robot according to claim 1, characterized in that: A mobile motor (305) for driving the rotation of the corresponding hanging wheel (303) is installed on the surface of the wheel frame plate (301) of any of the clamping wheel sets.

3. The rail-mounted livestock shed environmental monitoring robot according to claim 1, characterized in that: The control box (5) has a box cover (2) fixed on its outer top surface. The moving mechanism (3) is located inside the box cover (2). Both ends of the box cover (2) are provided with frame openings through which the corresponding track (1) passes. A cleaning brush (9) is installed on the top of the frame opening.

4. The rail-mounted livestock shed environmental monitoring robot according to claim 1, characterized in that: Each scissor lift unit contains two long connecting plates (601) hinged in the middle, and the ends of the two connecting plates of two adjacent scissor lift units are hinged to each other via a long connecting shaft (609).

5. The rail-mounted livestock shed environmental monitoring robot according to claim 1, characterized in that: Both ends of the control box (5) are equipped with limit switches (10) corresponding to the sliding plates (605).

6. The rail-mounted livestock shed environmental monitoring robot according to claim 1, characterized in that: The image acquisition device (8) includes a camera, and the environmental detection device (7) includes a temperature sensor, a humidity sensor, an infrared sensor, and a sound sensor.

7. The rail-mounted livestock shed environmental monitoring robot according to claim 1, characterized in that: The control box (5) has a partition (12) in the middle. A controller (11) is installed on the upper surface of the partition (12). The controller (11) is connected to the moving mechanism (3) and the lifting mechanism (6) respectively.

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