CN105965470A - Mobile carrying robot used for animal carcass treatment - Google Patents

Abstract

The invention discloses a mobile handling robot for animal corpse treatment, which includes a driving module, a guiding module, a robot body, a transfer unit, a main controller, a station identification module, and a power supply module, and the transfer unit includes a fork , automatic lifting mechanism, the automatic lifting mechanism is fixed on the robot body, and the fork is fixedly installed on the top of the automatic lifting mechanism; the guide module includes a magnetic navigation sensor arranged on the robot body, and the site identification module includes a radio frequency card reader fixed on the robot body The device, the magnetic navigation sensor and the radio frequency card reader are respectively electrically connected with the main controller. The main controller controls the operation of other units, the power supply module supplies power to each module, and the animal carcass is picked up by the transfer unit, which can avoid direct contact between human and animal carcasses, reduce the chance of human infection with bacteria and viruses, and realize automation at the same time work, saving labor costs and improving work efficiency.

Description

A mobile handling robot for handling animal corpses

technical field

The invention relates to a mobile handling robot, in particular to a mobile handling robot for animal corpse treatment, which belongs to the fields of intelligent logistics transportation and animal corpse treatment.

Background technique

The traditional storage, transportation and processing of animal corpses often require human participation. Since the dead animals usually carry a large amount of bacteria and viruses after a period of time, once they come into contact with humans, they may be infected with bacteria and viruses. Therefore, this mobile In order to avoid the secondary contact between human and animal corpses during the transportation of animal corpses, the handling robot has a compact structure compared with the existing logistics trolleys, and can realize transportation in a narrow space.

Contents of the invention

The object of the present invention is to provide a mobile handling robot for animal corpse treatment, which avoids secondary contact between human and animal corpses during the process of transporting animal corpses out.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A mobile handling robot for handling animal corpses, comprising a drive module, a guide module, a robot body, a transfer unit, a main controller, a site identification module, and a power supply module, and the transfer unit includes a fork and an automatic lifting mechanism , the automatic lifting mechanism is fixed on the robot body, and the fork is fixedly installed on the top of the automatic lifting mechanism; the guide module includes a magnetic navigation sensor arranged on the robot body, and the site identification module includes a radio frequency card reader fixed on the robot body. The sensor and the radio frequency card reader are respectively electrically connected to the main controller. The main controller controls the operation of other units, the power supply module supplies power to each module, the transfer unit is used to grab animal carcasses, the magnetic navigation sensor identifies the pre-laid magnetic navigation line on the ground and feeds back the identification results to the main controller, and the radio frequency The card reader reads the radio frequency identification card preset on the ground and feeds back the identification result to the main controller. The main controller controls the operation of the drive module according to the received information to realize the movement and work of the handling robot. Grabbing animal carcasses through the transfer unit can avoid direct contact between humans and animal carcasses, reduce the probability of human infection with bacteria and viruses, and realize automatic work at the same time, saving labor costs and improving work efficiency.

As a preferred solution of the mobile handling robot for animal corpse treatment according to the present invention, the fork is a U-shaped fork, which includes a lower insertion rod, a rear stop rod and an upper insertion rod connected in sequence, and the lower insertion rod , The back bar and the upper bar are connected in a U-shaped structure, and the opening of the U-shaped structure is set horizontally. The U-shaped structure inserts and loads the animal carcass. The upper bar and the back bar can play a good role in fixing the animal carcass. Prevents the carcass from falling due to being not centered on the lower plunger.

As a preferred solution of the mobile handling robot for animal corpse treatment according to the present invention, the automatic lifting mechanism includes a lifting mechanism mounting seat, a lifting mechanism support platform, a lifting connecting rod, and a screw rod. The lifting connecting rod consists of four The four support rods are connected by rotating shafts to form a rhombus structure, and the screw rods are horizontally connected to the rhombus structure, and the height of the rhombus structure can be adjusted by adjusting the length of the screw rod between the rhombus structures. The height adjustment of the automatic lifting mechanism is realized through the rhombus structure, which has high structural stability and strong bearing capacity. Furthermore, the screw rod communicates with the screw rod motor, and the forward rotation and reverse rotation of the screw rod motor drive the screw rod to rotate, thereby adjusting the height adjustment of the automatic lifting mechanism.

As a preferred solution of the mobile handling robot for animal corpse treatment according to the present invention, it also includes a slewing support fixed on the robot body, the automatic lifting mechanism is fixed on the slewing support, and the automatic lifting is realized through the slewing support The rotation of the mechanism and its upper parts in the horizontal direction makes the mobile handling robot work more flexibly.

As a preferred solution of the mobile handling robot used for animal corpse treatment according to the present invention, the slewing mechanism is also provided with a fixed baffle, the fixed baffle is vertically arranged and can move up and down in the vertical direction, fixed When the baffle plate is in a retracted state, its upper edge is lower than the lower edge of the pallet fork, and when in use, the fixed baffle plate moves upwards to surround the animal carcass on the pallet fork.

As a preferred solution of the mobile handling robot used for animal corpse treatment according to the present invention, the fixed baffle is connected to the synchronous pulley, and the synchronous pulley is connected to a motor, which is driven by the forward rotation and reverse rotation of the motor. The forward rotation and reverse rotation of the synchronous pulley further drive the fixed baffle to move up and down.

As a preferred solution of the mobile handling robot for animal corpse treatment according to the present invention, the drive module includes a drive motor, a brake system, a differential system, and a drive wheel, and the drive motor, brake system, and differential system It is electrically connected with the main controller, and the driving wheels are precisely adjusted through the differential system and the braking system to realize autonomous positioning and operation.

As a preferred solution of the mobile handling robot for animal corpse treatment according to the present invention, it also includes a wireless communication module, and the main controller communicates with the upper computer through the wireless communication module.

As a preferred solution of the mobile handling robot for animal corpse processing according to the present invention, it also includes an infrared obstacle avoidance sensor, which is fixed on the robot body and is electrically connected with the main controller to prevent the robot body from Malfunctions in the event of collisions with other persons or equipment.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a mobile handling robot of the present invention.

Fig. 2 is the front view of the mobile handling robot of the present invention;

Fig. 3 is a structural schematic diagram of the automatic lifting mechanism of the present invention.

in:

1. Magnetic navigation sensor 2, drive module 3, robot body 4, display and operation panel 5, automatic lifting mechanism 51, lifting mechanism mounting seat 52, lifting mechanism support platform 53, lifting connecting rod 54, nut 55, screw rod 6, U-shaped fork 7, power module 8, fixed baffle 9, synchronous pulley 10, wireless communication module 11, infrared obstacle avoidance sensor 12, slewing bearing 13, slewing motor 14, radio frequency card reader 15, main controller

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Example 1

As shown in Figure 1-3, a mobile handling robot for animal corpse processing includes a drive module, a guide module, a robot body, a transfer unit, a main controller, a site identification module, and a power supply module.

A slewing support 12 is fixed on the robot body, and the automatic lifting mechanism 5 is fixed on the slewing support 12. The slewing support 12 is connected with the rotary motor 13, and the automatic lifting mechanism 5 and its upper parts are rotated in the horizontal direction through the slewing support 12. , making the mobile handling robot work more flexibly.

Transfer unit comprises cargo fork, automatic elevating mechanism 5, and automatic elevating mechanism 5 comprises elevating mechanism mounting seat 51, elevating mechanism supporting table 52, elevating connecting rod 53, nut 54, screw mandrel 55, and elevating connecting rod 53 is made of four supporting rods. Composed of four support rods connected by rotating shafts to form a rhombus structure, the screw rod 55 is horizontally connected to the rhombus structure, one end of which is screwed to the nut fixed on the rhombus structure, and the other end communicates with the screw motor, through the screw motor Forward rotation and reverse rotation drive the screw to rotate, and then adjust the height adjustment of the automatic lifting mechanism.

Pallet fork is U-shaped fork 6, comprises the lower plunger that connects successively, rear stop bar and last plunger, and lower plunger, rear stopper and upper plunger are connected in U-shaped structure, and U-shaped structure opening is arranged horizontally.

Also be provided with fixed baffle plate 8 on slewing mechanism 12, fixed baffle plate 8 is vertically arranged and can move up and down along the vertical direction, fixed baffle plate 8 is connected with synchronous pulley 9, and synchronous pulley 9 is connected with a motor, by The forward rotation and reverse rotation of the motor drive the forward rotation and reverse rotation of the synchronous pulley, and then drive the fixed baffle 8 to move up and down. When the fixed baffle is in a retracted state, its upper edge is lower than the lower edge of the fork. When in use, the fixed baffle moves upwards to surround the animal carcass on the fork to prevent the animal carcass from tilting and falling during transportation.

The driving module 2 consists of a driving motor, a braking system, a differential system, and driving wheels. The driving motor, braking system, differential system and the main controller are electrically connected, and the driving wheels are precisely adjusted through the differential system and the braking system to realize autonomous driving. positioning and operation.

The robot body 3 is also provided with a magnetic navigation sensor 1, a wireless communication module 10, an infrared obstacle avoidance sensor 11, and a radio frequency card reader 14, and a magnetic navigation line and a radio frequency identification card are pre-laid on the ground, and the ground is identified by the magnetic navigation sensor. The magnetic navigation line and run forward along the magnetic navigation line, when running to the turning position or other site positions, the radio frequency card reader 14 identifies and reads the information of the radio frequency identification card, and feeds back the identification result to the main controller 15, and the main control The device 15 controls the operation of the drive module according to the received information, so as to realize the movement and work of the handling robot. The wireless communication module 10 connects the main controller with the upper computer to realize the transmission of information.

An infrared obstacle avoidance sensor 11 is also provided on the robot body 3, and the infrared obstacle avoidance sensor 11 is electrically connected to the main controller to avoid malfunction of the robot body when it collides with other people or equipment. The display and operation panel 4 is used for displaying robot information and for robot debugging; the self-charging power supply module 7 is used to supply power to each working module of the robot.

The present invention mainly can realize all-round movement without changing the robot body, which is helpful to realize movement in a narrow space.

Although the embodiments of the present invention have been described in the specification, these embodiments are only used as hints and should not limit the protection scope of the present invention. Various omissions, substitutions and changes within the scope not departing from the gist of the present invention shall be included in the protection scope of the present invention.

Claims (9)

1. A mobile handling robot for animal corpse processing, characterized in that: it includes a drive module, a guide module, a robot body, a transfer unit, a main controller, a site identification module, and a power supply module, and the transfer unit includes Goods fork, automatic lifting mechanism, the automatic lifting mechanism is fixed on the robot body, and the fork is fixedly installed on the top of the automatic lifting mechanism; the guide module includes a magnetic navigation sensor set on the robot body, and the site identification module includes a radio frequency sensor fixed on the robot body. The card reader, the magnetic navigation sensor and the radio frequency card reader are respectively electrically connected with the main controller. 2. The mobile handling robot for animal corpse treatment according to claim 1, characterized in that: the fork is a U-shaped fork, comprising a lower insertion rod, a rear stop rod and an upper insertion rod connected in sequence, the lower The insertion rod, the rear stop rod and the upper insertion rod are connected in a U-shaped structure, and the opening of the U-shaped structure is arranged horizontally. 3. The mobile handling robot for animal corpse treatment according to claim 1 or 2, characterized in that: the automatic lifting mechanism includes a lifting mechanism mounting seat, a lifting mechanism support platform, a lifting connecting rod, a screw rod, and a lifting mechanism. The connecting rod is composed of four support rods, which are connected by rotating shafts to form a rhombus structure, and the screw rod is horizontally connected to the rhombus structure, and the height of the rhombus structure can be adjusted by adjusting the length of the screw rod between the rhombus structures. 4. The mobile handling robot for animal corpse treatment according to claim 3, further comprising a slewing support fixed on the robot body, and the automatic lifting mechanism is fixed on the slewing support. 5. The mobile handling robot for animal corpse treatment according to claim 4, characterized in that: said slewing mechanism is also provided with a fixed baffle, the fixed baffle is arranged vertically and can move up and down in the vertical direction The upper edge of the fixed baffle is lower than the lower edge of the fork when it is in a retracted state, and when it is in use, the fixed baffle moves upwards to surround the animal carcasses on the fork. 6. The mobile handling robot for animal corpse treatment according to claim 5, characterized in that: said fixed baffle is connected to a synchronous pulley, and the synchronous pulley is connected to a motor, and the forward and reverse rotation of the motor The rotation drives the forward rotation and reverse rotation of the synchronous pulley, and then drives the fixed baffle to move up and down. 7. The mobile handling robot for animal corpse treatment according to claim 1, characterized in that: the drive module comprises a drive motor, a brake system, a differential system, and drive wheels, and the drive motor, brake system, differential The speed system is electrically connected to the main controller. 8 . The mobile handling robot for animal corpse treatment according to claim 7 , further comprising a wireless communication module, and the main controller communicates with the host computer through the wireless communication module. 9. The mobile handling robot for animal corpse treatment according to claim 8, further comprising an infrared obstacle avoidance sensor, the infrared obstacle avoidance sensor is fixed on the robot body and is electrically connected to the main controller.