阅读说明：本技术 一种反刍类动物饲喂推料机器人及其使用方法 (Ruminant feeding and pushing robot and using method thereof ) 是由 梁之得 王玉风 刘德升 于 2019-10-23 设计创作，主要内容包括：本发明公开了一种反刍类动物饲喂推料机器人,包括机器人壳体,所述机器人壳体的的下端前侧固定连接有刮板,所述机器人壳体的前端固定连接有螺旋送料机构,所述机器人壳体的下部后侧固定连接有底盘框架,所述底盘框架的左右侧固定连接有减速箱,所述减速箱的外侧通过连接轴连接有动力轮,所述减速箱的相对端均固定连接传动电机,所述底盘框架的上端左右侧均固定连接有调整固定板,所述调整固定板的中部均插接有调节螺杆,所述调节螺杆的外侧通过螺纹套接有调节支撑。该反刍类动物饲喂推料机器人,通过设备的整体结构,提高饲料的转化率；同时螺旋送料器具有翻料、匀料作用,保证饲料均匀,无挤压,提高饲料的适口性。(The invention discloses a feeding and pushing robot for ruminants, which comprises a robot shell, wherein a scraper plate is fixedly connected to the front side of the lower end of the robot shell, a spiral feeding mechanism is fixedly connected to the front end of the robot shell, a chassis frame is fixedly connected to the rear side of the lower part of the robot shell, reduction boxes are fixedly connected to the left side and the right side of the chassis frame, power wheels are connected to the outer sides of the reduction boxes through connecting shafts, transmission motors are fixedly connected to the opposite ends of the reduction boxes, adjusting fixing plates are fixedly connected to the left side and the right side of the upper end of the chassis frame, adjusting screws are inserted into the middle of the adjusting fixing plates, and adjusting supports are sleeved on the outer sides of the adjusting screws through threads. The ruminant feeding and pushing robot improves the conversion rate of feed through the integral structure of the equipment; meanwhile, the spiral feeder has the functions of turning and homogenizing, the feed is ensured to be uniform without extrusion, and the palatability of the feed is improved.)

1. The utility model provides a ruminant feeds and pushes away material robot, includes robot housing (1), its characterized in that: the front end of the robot shell (1) is fixedly connected with a spiral feeding mechanism (3), the rear side of the lower portion of the robot shell (1) is fixedly connected with a chassis frame (10), the left side and the right side of the chassis frame (10) are fixedly connected with a reduction gearbox (12), the outer side of the reduction gearbox (12) is connected with a power wheel (5) through a connecting shaft, opposite ends of the reduction gearbox (12) are fixedly connected with a transmission motor (11), the left side and the right side of the upper end of the chassis frame (10) are fixedly connected with an adjusting fixing plate (13), the middle of the adjusting fixing plate (13) is spliced with an adjusting screw rod (14), the outer side of the adjusting screw rod (14) is sleeved with an adjusting support (15) through threads, the lower ends of the front side and the rear side of the adjusting support (15) are fixedly connected with springs (16), and the lower ends of the springs, the lower extreme front side and the rear side of robot housing (1) are connected with magnetism nail track detection sensor (4) and navigation detection sensor (6) respectively, tail end lower part fixed connection anticollision piece (8) of robot housing (1), the sub-unit connection of anticollision piece (8) has universal wheel (7), the upper end fixedly connected with balancing weight (9) of anticollision piece (8).

2. The ruminant feeding and pushing robot as claimed in claim 1, wherein: the utility model discloses a robot, including robot casing (1), chassis frame (10), storage battery, magnetic nail track detection sensor (4) and navigation detection sensor (6), the upper portion rear side of robot casing (1) is opened there is the rectangular hole, chassis frame (10) fixed mounting is in the rectangular hole, the inner chamber rear side of robot casing (1) is equipped with storage battery, storage battery passes through the controller of switch connection driving motor (11), driving motor (11) link to each other with the controller through the wire, storage battery passes through the wire and connects the charger, storage battery passes through the wire and links to each other with magnetic nail track detection sensor (4) and navigation detection sensor (6), magnetic nail track detection sensor (4) and navigation detection sensor (6) link to each other with.

3. The ruminant feeding and pushing robot as claimed in claim 1, wherein: the front side of the lower end of the robot shell (1) is fixedly connected with a scraper (2).

4. The ruminant feeding and pushing robot as claimed in claim 3, wherein: the lower end surface of the scraper (2) is smooth, and the lower end of the scraper (2) and the lower end surface of the power wheel (5) are positioned on the same horizontal plane.

5. The ruminant feeding and pushing robot as claimed in claim 1, wherein: the upper portion of the left end of the robot shell (1) is fixedly connected with a touch screen, and the touch screen is connected with a controller through a wire.

6. The ruminant feeding and pushing robot as claimed in claim 1, wherein: the rear side of the upper end of the robot shell (1) is fixedly connected with an emergency switch, and the emergency switch is connected between the storage battery pack and the controller.

7. The use method of the ruminant feeding and pushing robot as claimed in any one of the claims 1-5,

the method comprises the following steps: arranging magnetic nails on a path through which the animal feed trough channel and the pushing robot pass, and arranging a charging docking station at an initial position;

secondly, installing a WIFI signal base station at the charging docking station;

step three: the pushing robot detects the current position and the running position through the magnetic nail track detection sensor, and after a path, time and a pushing distance are set on the touch screen, the robot starts to work.

Step four: the power wheel (5) of the material pushing robot is in charge of the running speed of the robot, after an instruction of starting material pushing is given, the spiral feeding mechanism (3) starts to rotate to push the materials, and as the spiral feeding mechanism (3) is a spiral feeder, materials scattered on the ground can be gathered together by the scraper (2) when the whole device moves forward, and as the scraper (2) gathers the materials, and the spiral wheel of the spiral feeding mechanism (3) rotates, the gathered materials can be pushed to the front side of the machine by the spiral wheel, namely, the materials are close to the outer side of an animal circle, so that the animal can eat the feed after the animal extends out of the head;

step five: and the pushing robot automatically returns to the charging docking station after running, and the charging mechanism automatically starts charging after reaching the charging docking station.

Technical Field

The invention relates to the technical field of cultivation, in particular to a ruminant feeding and pushing robot and a using method thereof.

Background

The existing material pushing is basically carried out in a manual mode, mechanical material pushing is carried out by modifying a tractor or an agricultural tricycle, no professional material pushing equipment is provided, the twenty-four hour regular material pushing is guaranteed, the manual mode is high in cost and unstable, and a common feeding material pushing robot is easy to enable materials to fall in blocks when feeding is carried out, so that different materials are not uniform and loose, and therefore the feeding material pushing robot for the ruminant animals is provided.

Disclosure of Invention

The invention aims to provide a ruminant feeding and pushing robot to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a feeding and pushing robot for ruminants comprises a robot shell, wherein a spiral feeding mechanism is fixedly connected to the front end of the robot shell, a chassis frame is fixedly connected to the rear side of the lower portion of the robot shell, reduction boxes are fixedly connected to the left side and the right side of the chassis frame, power wheels are connected to the outer sides of the reduction boxes through connecting shafts, transmission motors are fixedly connected to opposite ends of the reduction boxes, adjusting fixing plates are fixedly connected to the left side and the right side of the upper end of the chassis frame, adjusting screws are inserted into the middle portions of the adjusting fixing plates, adjusting supports are sleeved on the outer sides of the adjusting screws through threads, springs are fixedly connected to the lower ends of the front side and the rear side of each adjusting support, the lower ends of the springs are fixedly connected to the upper portions of the front side and the rear side of the chassis frame, and the front side and the rear side of the lower, the lower part of the tail end of the robot shell is fixedly connected with an anti-collision block, the lower part of the anti-collision block is connected with a universal wheel, and the upper end of the anti-collision block is fixedly connected with a balancing weight.

Preferably, a rectangular hole is formed in the rear side of the upper portion of the robot shell, the chassis frame is fixedly installed in the rectangular hole, a storage battery pack is arranged on the rear side of an inner cavity of the robot shell and connected with a controller of a transmission motor through a switch, the transmission motor is connected with the controller through a wire, the storage battery pack is connected with a charger through a wire, the storage battery pack is connected with the magnetic nail track detection sensor and the navigation detection sensor through wires, and the magnetic nail track detection sensor and the navigation detection sensor are connected with the controller through wires.

Preferably, a scraper is fixedly connected to the front side of the lower end of the robot shell,

preferably, the lower end surface of the scraper is smooth, and the lower end of the scraper and the lower end surface of the power wheel are located on the same horizontal plane.

Preferably, the upper part of the left end of the robot shell is fixedly connected with a touch screen, and the touch screen is connected with the controller through a wire.

Preferably, the rear side of the upper end of the robot shell is fixedly connected with an emergency switch, and the emergency switch is connected between the storage battery pack and the controller.

A use method of a ruminant feeding and pushing robot, which is characterized in that,

the method comprises the following steps: arranging magnetic nails on a path through which the animal feed trough channel and the pushing robot pass, and arranging a charging docking station at an initial position;

secondly, installing a WIFI signal base station at the charging docking station;

step three: the pushing robot detects the current position and the running position through the magnetic nail track detection sensor, and after a path, time and a pushing distance are set on the touch screen, the robot starts to work.

Step four: the power wheel (5) of the material pushing robot is in charge of the running speed of the robot, after an instruction of starting material pushing is given, the spiral feeding mechanism (3) starts to rotate to push the materials, and as the spiral feeding mechanism (3) is a spiral feeder, materials scattered on the ground can be gathered together by the scraper (2) when the whole device moves forward, and as the scraper (2) gathers the materials, and the spiral wheel of the spiral feeding mechanism (3) rotates, the gathered materials can be pushed to the front side of the machine by the spiral wheel, namely, the materials are close to the outer side of an animal circle, so that the animal can eat the feed after the animal extends out of the head;

step five: and the pushing robot automatically returns to the charging docking station after running, and the charging mechanism automatically starts charging after reaching the charging docking station.

Advantageous effects

Compared with the prior art, the invention has the beneficial effects that: the feeding and pushing robot for the ruminants ensures the nutritional requirements of the ruminants through the integral structure of equipment, solves the problem that the ruminants cannot reach the feed in the feeding process, and improves the efficiency, so that the conversion rate of the feed is improved; meanwhile, the spiral feeder has the functions of turning and homogenizing, ensures that the feed is uniform and is free of extrusion, keeps the feed in a fluffy state, improves the palatability of the feed, replaces heavy manual labor of manual pushing, and ensures twenty-four hour all-weather operation.

Drawings

FIG. 1 is a schematic view of the overall appearance structure of the present invention;

FIG. 2 is a right side view of the present invention;

FIG. 3 is a bottom view of the present invention;

fig. 4 is a front view of the connection mechanism of the power wheel of the present invention.

In the figure: the device comprises a robot shell 1, a scraper 2, a spiral feeding mechanism 3, a magnetic nail track detection sensor 4, a power wheel 5, a navigation detection sensor 6, a universal wheel 7, an anti-collision block 8, a balancing weight 9, a chassis frame 10, a transmission motor 11, a reduction gearbox 12, an adjustment fixing plate 13, an adjustment screw 14, an adjustment support 15 and a spring 16.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: a ruminant feeding and pushing robot comprises a robot shell 1, wherein the left side of the robot shell 1 is the end part in the advancing direction, the upper part of the left end of the robot shell 1 is fixedly connected with a touch screen, the touch screen is an YPC1062-24 touch screen, the touch screen is connected with a controller through a lead, the rear side of the upper end of the robot shell 1 is fixedly connected with an emergency switch, the emergency switch is connected between a storage battery pack and the controller, the storage battery pack provides a power supply for the work of a machine, the rear side of the upper part of the robot shell 1 is provided with a rectangular hole, a chassis frame 10 is fixedly arranged in the rectangular hole, the rear side of an inner cavity of the robot shell 1 is provided with the storage battery pack, the storage battery pack is connected with the controller of a transmission motor 11 through a switch, the transmission motor 11 is connected with the controller through a lead, and the storage battery pack, the storage battery pack is connected with the magnetic nail track detection sensor 4 and the navigation detection sensor 6 through wires, the magnetic nail track detection sensor 4 and the navigation detection sensor 6 are connected with the controller through wires, the YPS-200 magnetic navigation sensor is adopted as the navigation detection sensor 6, a scraper 2 is fixedly connected to the front side of the lower end of the robot shell 1, the lower end face of the scraper 2 is smooth, the lower end of the scraper 2 and the lower end face of the power wheel 5 are located on the same horizontal plane, the rotation of the spiral blades pushes loose feed on the ground to a position close to the feeding of animals in a pen, and the spiral feeding mechanism is made of high-strength wear-resistant plastic which is made of a self-made spiral roller and is 1 m long and 600mm spiral. The front end of the robot shell 1 is fixedly connected with a spiral feeding mechanism 3, the rear side of the lower part of the robot shell 1 is fixedly connected with a chassis frame 10, the left side and the right side of the chassis frame 10 are fixedly connected with a reduction gearbox 12, the outer side of the reduction gearbox 12 is connected with a power wheel 5 through a connecting shaft, the opposite end of the reduction gearbox 12 is fixedly connected with a transmission motor 11, the transmission motor 11 adopts a servo motor, the left side and the right side of the upper end of the chassis frame 10 are fixedly connected with an adjusting fixing plate 13, the middle part of the adjusting fixing plate 13 is inserted with an adjusting screw rod 14, the outer side of the adjusting screw rod 14 is sleeved with an adjusting support 15 through threads, the adjusting support 15 is rotated to be lifted or lowered, so that the tension of a spring 16 is changed, the other end of the spring 16 is a support fixed on an axle of a hub motor, namely, the position, the adjustment screw 14 can be rotated to adjust the position of the adjustment support 15 to reduce the tension of the spring 16 for very flat surfaces, while for relatively uneven surfaces, the opposite adjustment is sufficient, similar to the spring plate action of an automobile axle. The utility model discloses an automatic obstacle avoidance mechanism, including regulation support 15, chassis frame 10, lower extreme fixedly connected with spring 16 around the regulation support 15, the lower extreme fixed connection of spring 16 is on the front and back side upper portion of chassis frame 10, the lower extreme front side and the rear side of robot housing 1 are connected with magnetic nail track detection sensor 4 and navigation detection sensor 6 respectively, the tail end lower part fixed connection anticollision piece 8 of robot housing 1, the sub-unit connection of anticollision piece 8 has universal wheel 7, and universal wheel 7 can rotate by 360 degrees, and the automatic obstacle avoidance mechanism of 8 internally mounted of anticollision pieces, and the automatic obstacle avoidance mechanism adopts the current obstacle avoidance structure in the market, has the upper end fixedly connected with balancing weight 9 of anticollision piece 8.

A material pushing method of a ruminant feeding material pushing robot comprises the following steps: when a ruminant is required to feed the pushing robot to work, firstly, the magnetic nails are arranged in the animal feeding trough channel and the path through which the robot passes, and the charging docking station is arranged at the beginning or the end. A WIFI signal base station is installed at the charging docking station, the pushing robot detects the current position and the running position through a magnetic nail track detection sensor 4, the model of the magnetic nail track detection sensor 4 is YPS-200, a path, time and a pushing distance are set on a touch screen, and then the pushing robot starts to work. The power wheel 5 of the material pushing robot is in charge of the running speed of the robot, after an instruction of pushing the material is issued, the spiral feeding mechanism 3 starts to rotationally push the material, because the spiral feeding mechanism 3 is a spiral feeder, when the whole device advances along with the device, the materials scattered on the ground can be gathered together by the scraper blade 2, and along with the gathering of the scraper blade 2 to the materials, the spiral wheel of the spiral feeding mechanism 3 rotates, so that the gathered materials can be pushed to the front side of the machine by the spiral wheel (namely, the outer side edge of an animal circle is close to, so that the animal can eat the feed by extending the head), quantitative feeding can be realized by the advancing of the whole device, the rotating speed of the spiral feeding mechanism 3 is kept consistent, accurate quantitative feeding can be realized, therefore, the material pushing robot can uniformly push the material, and the condition of different material pushing sizes can not. And the fodder passes through screw mechanism, keeps the fluffy state of fodder to through the spiral upset, make multicomponent fodder more even unanimous. The palatability of the feed is increased, so that the conversion rate of the feed is improved. The pushing robot detects the running position and the offset distance through the magnetic nail track detection sensor 4 in the working process, and adjusts the advancing direction through adjusting different rotating speeds of the power wheel 5 so as to correct the track. If the track deviates or objects interfere with the side surfaces, the safety protection switch is triggered to stop the robot, and the robot can continue to run until the robot is reset. The pushing robot automatically returns to the charging docking station after running each time, and the charging mechanism automatically starts charging after the pushing robot reaches the docking station. The emergency stop switch is arranged on the robot shell of the robot to ensure that the robot is not required to work and is used for emergency stop. The other end of the spiral feeding mechanism 3 is a direction opposite to the direction that the side plate of the robot blocks the feed from running into the feeding trough, and a safety device is arranged at the lower edge of the front cover shell to prevent collision. The universal wheels 7 can make the robot turn flexibly.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.