| Artificial insemination is mainly used in the mating, and reproductive rate of sowing is the key to
maintain a stable level of pig farm. In order to improve sow pregnancy rate, staffs who work in the pig farm usually
drive the boar to the front of sow so that sow can smell the odor of boar and improve estrus. However, the breeding
boar often cannot be stayed accurately and quietly on beside of the estrus sow and pig farms are not easy to be highly
automated and intelligent. On this background, we devised an estrus sow vehicle with two driving wheels. The vehicle
is designed with antiskid and anti lying device to ensure the boar comfortable to stay in it. The vehicle control system
is composed of a wireless receiving module, the main controller and DC motor driver etc. The power of the vehicle
driven by two DC motors with two worm gear reducers is supplied by the lead-acid battery. In this paper, the
mechanical structure and working principle of two driving wheels of estrus sow vehicle was introduced, and then the
rollover and sideslip model of estrus sow vehicle was established. The influences of changes of centroid height, track
width and proportion of back weight to whole vehicle weight on rollover and sideslip stability of estrus sow vehicle
were studied. What爷s more, the paper analyzed the maximum speed, which is not rollover and sideslip of the vehicle
driving in the maximum angle on a level road, to provide a theoretical basis for movement of the vehicle in the
narrow space |
