自锁式小群妊娠母猪智能饲喂机构设计与试验  

Mechanism design and experiments of the self-locking intelligent feeding system for small-group pregnant sows

作　　者：黎煊 帅永辉[2] 刘小磊 喻梦媛 马丽娜 郑红亚[2] 刘洋 Li Xuan;Shuai Yonghui;Liu Xiaolei;Yu Mengyuan;Ma Lina;Zheng Hongya;LiuYang(Key Laboratory of Smart Farming for Agricultural Animals,Wuhan 430070,China;College of Engineering,Huazhong Agricultural University,Wuhan 430070,China;Hubei Hongshan Laboratory,Wuhan 430070,China)

机构地区：[1]农业农村部智慧养殖技术重点实验室,武汉430070 [2]华中农业大学工学院,武汉430070 [3]湖北洪山实验室,武汉430070

出　　处：《农业工程学报》2022年第13期38-46,共9页Transactions of the Chinese Society of Agricultural Engineering

基　　金：中组部青年拔尖人才项目;中央高校基本科研业务费专项资金资助项目(2662020GXPY009)。

摘　　要：为解决现有小群妊娠母猪饲喂系统存在猪只攀爬等导致采食通道门异常关闭从而使母猪不能采食的问题,该研究设计了一种自锁式小群妊娠母猪智能饲喂系统。系统由自锁式全机械结构的采食通道与精准下料装置组成。采食通道前门、后门、前门连接件、中间连杆与框架共同构成空间RRRSR(R为转动副,S为球面副)五杆单闭链机构,利用空间连杆机构自锁特性与定轴转动实现采食通道前后门的自锁与互锁。运动学仿真结果表明,前门最大开合角度为92°,后门最大开合角度为63.32°,前、后门完全开启时,母猪可在采食通道内通行。精准下料装置的控制基于FreeRTOS实现,将饲喂过程分为下料、下水、身份识别、数据显示与存储等。样机试验结果表明,系统的采食通道能够稳定自锁,可防止猪只攀爬导致采食通道门异常关闭;精准下料装置可精确识别母猪并精准下料,距离射频识别模块识别板20cm左右即可识别到耳标,耳标识别后在1s内开始自动下料下水,单圈下料最大误差不超过2.02%,单次下水最大误差不超过1.80%,研究结果可为研制具有自锁功能的小群妊娠母猪精准饲喂系统提供技术参考。Group-feeding has been an ever-increasing trend for pregnant sows in recent years. However, the existing feeding system cannot fully meet the needs of the small-group pregnant sows, due to the feeding obstruction from the abnormally closed door of the feeding passage when sows climbing. In this study, a self-locking intelligent feeding system was designed for the small-group pregnant sows using a five-link RRRSR mechanism. A self-locking feeding passage was also equipped with the full mechanical structure and a precise feeding device. The full mechanical structure was mainly composed of a front door, a rear door, and a passage frame. The spatial RRRSR five-bar mechanism with the single-loop linkages included the front door, the rear door, the front door connector, the intermediate connecting rod, and the passage frame. Among them, there was one freedom of motion using the frame breaking, in which the front door had a dead point during rotation. The self-locking and interlocking between the front and rear doors of the feeding passage were realized for the spatial linkage mechanism, according to the characteristics of the self-locking at the dead point and the fixed-axis rotation. The kinematics simulation showed that the front door was opened, while the rear door was closed, whereas, the front door was closed, while the rear door was opened. The maximum retractable angles of the front and rear doors were 92°, and 63.32°, respectively.Once the front and rear doors were fully open, the sows passed through the feeding passage. The rear door effectively blocked the sows outside the feeding passage when the front and rear doors were closed at the same time. The dynamic simulation results showed that the maximum torque values were 8.95 and 40.14 N·m to rotate the front and rear door, respectively.Correspondingly, the arm of forces were about 0.3 and 0.5 m to push the front and rear doors, respectively. The thrust fully met the design requirements that required rotating the front and rear doors. As such, the sows were

关 键 词：自锁 试验 妊娠母猪 智能饲喂 空间连杆机构 

分 类 号：S817.3[农业科学—畜牧学]