Material pushing robot and material pushing equipment

Abstract

The invention provides a material pushing robot and material pushing equipment. The material pushing robot comprises a chassis; the walking mechanism is arranged on the chassis and used for driving the chassis to move; the lifting platform is positioned above the chassis; the lifting driving mechanism is arranged on the chassis, is connected with the lifting platform and is used for driving the lifting platform to lift; the roller covers the chassis and ascends and descends synchronously with the lifting platform, and a connecting frame rotationally connected with the lifting platform is arranged in the roller; the chassis is provided with a limiting pulley, and the limiting pulley makes contact with the inner side of the roller and limits the roller. In the automatic driving walking process of the pushing robot, pushing is conducted through the rotating and stably-limited roller, the manual labor cost is reduced, the problems that when people walk back and forth, cattle feeding is affected, feed is prone to being polluted, germs are brought in, and cattle are accidentally injured by a pushing tool are solved, meanwhile, the risk that the roller rotates eccentrically is reduced, and the working efficiency is improved. And better durability and working stability are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural autonomous driving machinery, in particular to a pushing robot and a pushing device. BACKGROUND

[0002] At present, with the development of large-scale and high-quality animal breeding and the popularization of large-scale animal farms, some new problems have emerged, one of which is the animal feeding problem. Taking a cattle farm as an example, during the feeding process of the cattle, the feed is piled outside the fence, and the cattle are restrained in the fence to feed with their heads out. However, as the cattle feed, the feed outside the fence will be pushed to a distance that the cattle cannot reach. The feeders need to push the feed far from the fence to the outside of the fence several times with a shovel or a forklift, which not only has a large labor intensity, but also affects the cattle feeding when the personnel move back and forth, which is easy to contaminate the feed and bring in bacteria, and there is also a safety problem of the forklift injuring the cattle. In the prior art, there is also a pushing robot that can move autonomously, which pushes the feed through a roller structure, but the pushing effect is not good, and the roller is prone to eccentricity and wear after long-term use, and the working stability needs to be improved. SUMMARY

[0003] In view of the above, it is necessary to provide a pushing robot with high durability and working stability.

[0004] The first aspect of the present application provides a pushing robot, comprising: a chassis; a walking mechanism arranged on the chassis and used to drive the chassis to move; a lifting platform located above the chassis; a lifting drive mechanism arranged on the chassis and connected with the lifting platform, and used to drive the lifting platform to lift; a roller covered on the chassis and synchronously lifted with the lifting platform, and a connecting frame rotatably connected with the lifting platform is arranged in the roller; wherein the chassis is provided with a limiting pulley, the limiting pulley is located below the connecting frame, the limiting pulley is in contact with the inner side of the roller, and the limiting pulley limits the roller.

[0005] In some embodiments, the inner side of the roller is provided with a guide rail portion distributed around the chassis, and a plurality of limiting pulleys are in contact with the guide rail portion respectively; the rotation axis of the limiting pulley is parallel to the vertical direction, and the width of the guide rail portion in the vertical direction is greater than the width of the limiting pulley in the vertical direction; when the roller lifts, the limiting pulley moves relative to the guide rail portion in the vertical direction.

[0006] In some embodiments, the limiting pulley has a plurality of limiting pulleys, and the plurality of limiting pulleys are distributed around the chassis at intervals, and the plurality of limiting pulleys are in contact with the inner side of the roller respectively.

[0007] In some embodiments, the lifting platform is provided with a support rod, the support rod is fixed to the lifting platform and rotatably connected with the connecting frame; the connecting frame is provided with a plurality of extension arms around the circumference, and the extension arms are fixedly connected with the roller.

[0008] In some embodiments, the drum comprises a first cover body and a second cover body, at least one of the first cover body and the second cover body is provided with a pin, and the other of the first cover body and the second cover body is provided with a slot for cooperating with the pin; a free end of the pin is provided with a clamping portion, and the clamping portion has a size greater than that of the pin; the slot has a fine slot body and a coarse slot body, the slot width of the coarse slot body is greater than that of the fine slot body, the coarse slot body is matched with the clamping portion, and the fine slot body is matched with the pin.

[0009] In some embodiments, the pushing robot further comprises a top cover and a functional module arranged on the top cover, the top cover is fixed to the lifting platform, the top cover covers above the drum and is movable relative to the drum.

[0010] In some embodiments, the functional module comprises a charging module, the charging module is used for docking with a charging pile along a first direction and charging; wherein the charging module has a first electrode and a guide column arranged on a side of the first electrode; the charging pile has a support, a second electrode slidingly connected to the support along a second direction, and a wedge-shaped head arranged on the second electrode, the first direction and the second direction have an included angle; when the charging module approaches the support along the first direction, the guide column abuts against the wedge-shaped head and pushes the second electrode to move along the second direction, so that the first electrode and the second electrode are aligned in the first direction.

[0011] In some embodiments, the functional module comprises a charging module, the charging module is used for docking with a charging pile along a first direction and charging; wherein the charging module has a first electrode and a first magnetic attraction member; the charging pile has a support, a second electrode arranged on the support, a cleaning member slidingly connected to the support along the first direction, and a second magnetic attraction member arranged on the cleaning member, the movement path of the cleaning member passes through the second electrode; when the charging module approaches the support along the first direction, the first magnetic attraction member abuts against the second magnetic attraction member and pushes the cleaning member away from the second electrode; when the charging module moves away from the support along the first direction, the first magnetic attraction member attracts the second magnetic attraction member and drives the cleaning member to move through the second electrode.

[0012] In some embodiments, the functional module comprises at least one of a charging module, a distance measuring module, and a camera module.

[0013] The second aspect of the present application provides a pushing device, comprising a charging pile and a pushing robot according to the first aspect, the pushing robot is provided with a charging module, and the charging module is used for docking with the charging pile and charging.

[0014] Through the pushing robot and the pushing equipment provided in the application, in actual work, the chassis is driven to move by the walking mechanism to drive the roller to move to a specified position for pushing, and the roller can rotate relatively under the action of friction when the roller contacts the feed, thereby reducing the resistance and avoiding the accumulation of the feed. At the same time, the lifting driving structure can drive the roller to lift, so that the pushing robot and the pushing equipment can climb a slope and pass through a ditch, improving the machine passability. On the other hand, in the process of rotation and movement of the roller, the upper part of the roller can be rotationally connected with the lifting platform through the connecting frame to form upper part limiting, and the lower part of the roller can be in contact with the limiting pulley to form lower part limiting, so as to ensure the stability of the concentricity of the roller when rotating, reduce the vibration and wear caused by eccentric rotation of the roller, and improve the durability and working stability. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a structural schematic diagram of a pushing robot of an embodiment of the application.

[0016] Figure 2 is a structural schematic diagram of a charging pile of an embodiment of the application.

[0017] Figure 3 is a structural schematic diagram of the inside of a pushing robot of an embodiment of the application.

[0018] Figure 4 is an exploded schematic diagram of a roller of an embodiment of the application.

[0019] Figure 5 is a structural schematic diagram of the inside of a roller of an embodiment of the application.

[0020] Figure 6 is Figure 4 is a partial enlarged view of VI in FIG. 8.

[0021] Figure 7 is an exploded schematic diagram of a first cover body and a second cover body of an embodiment of the application.

[0022] Figure 8 is a structural schematic diagram of an upper assembly of an embodiment of the application.

[0023] Figure 9 is a top view of a charging pile of an embodiment of the application.

[0024] MAIN ELEMENT SYMBOL EXPLANATION 100, pushing robot; 200, charging pile; 10, chassis; 11, pulley frame; 20, walking mechanism; 21, front wheel; 22, rear wheel; 23, magnetic sensor; 30, lifting platform; 31, support rod; 40, lifting driving mechanism; 50, roller; 51, first cover body; 52, second cover body; 53, catch pin; 531, clamping portion; 532, main body; 54, clamping groove; 541, coarse groove body; 542, fine groove body; 543, step portion; 55, first blocking piece; 56, second blocking piece; 57, guide rail portion; 58, reinforcing rib; 60, limiting pulley; 70, connecting frame; 71, extension arm; 80, upper assembly; 81, top cover; 82, function module; 83, charging module; 831, first electrode; 832, guide column; 833, first magnetic attraction member; 84, distance measuring module; 841, telescopic tube mechanism; 85, camera module; 86, support seat; 90, pile body; 91, support; 911, accommodating groove; 912, slide rail; 92, second electrode; 93, wedge-shaped head; 94, slide rod; 95, elastic member; 96, cleaning member; 97, second magnetic attraction member. DETAILED DESCRIPTION

[0025] In the present application, the technical term "direction", such as "horizontal direction", "vertical direction" and the like, is with reference to the direction of an object in a normal working scenario. In the present application, when an element is considered to be "connected" to another element, it can be directly connected to the other element or a centrally disposed element can be present at the same time. When an element is considered to be "disposed on" another element, it can be directly disposed on the other element or a centrally disposed element can be present at the same time. In the present application, unless otherwise explicitly specified and limited, the terms "mount", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification of the present application is only for the purpose of describing specific embodiments and is not intended to limit the present application. The specification and claims of the present application and the above description of the drawings, the terms "include" and "have" and any variations thereof, are intended to cover non-exclusive inclusion.

[0027] Reference to“an embodiment” herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase“in an embodiment” in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the same embodiment, nor are they necessarily all mutually exclusive or alternative embodiments.

[0028] The application provides a pushing robot and a pushing device, which have the characteristics of reducing labor cost and better pushing effect.

[0029] The application first provides a pushing robot.

[0030] As shown in Figure 1 and Figure 2 , the pushing robot 100 has an automatic driving function, and the pushing robot 100 can automatically walk according to a specified path and complete the pushing work. The pushing robot 100 is configured with a charging pile 200, when the pushing robot 100 needs to be charged, the pushing robot 100 can be moved to a specified position, and then be connected with the charging pile 200 and charged.

[0031] Please refer to Figure 3 , in the embodiment, the pushing robot 100 includes a chassis 10, a walking mechanism 20, a lifting platform 30, a lifting driving mechanism 40, a roller 50 and an upper assembly 80. The chassis 10 supports the structure at the bottom of the pushing robot 100. The walking mechanism 20 is arranged on the chassis 10, and the walking mechanism 20 is used to drive the chassis 10 to move. The lifting platform 30 is located above the chassis 10. The lifting driving mechanism 40 is arranged on the chassis 10 and connected with the lifting platform 30, and the lifting driving mechanism 40 is used to drive the lifting platform 30 to lift. The roller 50 is covered on the chassis 10, and the roller 50 is synchronously lifted with the lifting platform 30. The connecting frame 70 is arranged in the roller 50, and the connecting frame 70 is rotationally connected with the lifting platform 30. The chassis 10 is provided with a limiting pulley 60, which is located below the connecting frame 70, and the limiting pulley 60 is in contact with the inner side of the roller 50, and the limiting pulley 60 is used to limit the roller 50. The upper assembly 80 is located at the top of the roller 50, and the upper assembly 80 is fixed to the lifting platform 30 and rotationally connected with the roller 50. The upper assembly 80 is integrated with various electronic modules, which are used to realize functions such as environment perception, image shooting, docking charging, positioning navigation and the like.

[0032] In actual work, the walking mechanism 20 drives the chassis 10 to move to drive the roller 50 to move to a specified position for pushing feed, and the roller 50 can rotate relative to the friction force when the roller 50 contacts the feed, thereby reducing the resistance and avoiding the accumulation of the feed. At the same time, the lifting driving mechanism 40 can drive the roller 50 to ascend and descend, so that the pushing robot 100 and the pushing equipment can climb a slope and pass through a ditch, thereby improving the machine passability.

[0033] On the other hand, during the rotation and movement of the roller 50, the upper part of the roller 50 is rotationally connected to the lifting platform 30 through the connecting frame 70 to form upper limiting, and the lower part of the roller 50 is in contact with the limiting pulley 60 to form lower limiting, so as to ensure the stability of the concentricity of the roller 50 during rotation, reduce the vibration and wear caused by eccentric rotation of the roller 50, and improve the durability and working stability.

[0034] It can be understood that the pushing robot 100 automatically drives to walk and pushes the feed through the rotationally and stably limited roller 50, thereby reducing the labor cost, solving the problems of the influence of personnel walking back and forth on the feeding of the cattle, the easy pollution of the feed, the introduction of bacteria, and the misoperation of the pushing tool, reducing the risk of eccentric rotation of the roller 50, and having better durability and working stability.

[0035] In some embodiments, the walking mechanism 20 includes front wheels 21, rear wheels 22 and a driving motor, wherein the front wheels 21 and the rear wheels 22 are rotationally connected to the chassis 10, and the front wheels 21 are located in front of the rear wheels 22 along the advancing direction of the pushing robot 100. The driving motor is arranged on the chassis 10 and connected to the rear wheels 22. The driving motor is used to drive the rear wheels 22 to rotate to drive the chassis 10 to move.

[0036] For example, the number of the front wheels 21 is 1, and the front wheels 21 are universal wheels, which can rotate along the advancing direction of the pushing robot 100. The rear wheels 22 are arranged in pairs, and the two rear wheels 22 are located on the two sides of the chassis 10, respectively. The rear wheels 22 can swing to adjust the advancing direction of the pushing robot 100.

[0037] For example, the chassis 10 is provided with a battery, and the battery is electrically connected to the driving motor. The battery is used to provide electric energy for the driving motor to maintain the working of the driving motor.

[0038] For example, the bottom of the chassis 10 is provided with a magnetic sensor 23, which is used to realize the autonomous movement of the robot on a specific path. In the breeding site, magnetic markers can be pre-buried at specified points. During the walking of the pushing robot 100, the magnetic sensor 23 can scan the ground magnetic field signal in real time to ensure that the pushing robot 100 moves along the predetermined route paved with magnetic nails.

[0039] In some embodiments, the rotation axis of the limiting pulley 60 is parallel to the vertical direction, and a plurality of limiting pulleys 60 are distributed around the chassis 10. For example, the number of limiting pulleys 60 is four, and the four limiting pulleys 60 are distributed around the chassis 10. The chassis 10 is provided with a plurality of pulley frames 11 corresponding to the limiting pulleys 60, each limiting pulley 60 is rotatably connected to the corresponding pulley frame 11, and the distance from each limiting pulley 60 to the central axis of the roller 50 is the same.

[0040] It can be understood that when the roller 50 rotates, each limiting pulley 60 respectively contacts the inner side of the roller 50 and rolls on the inner surface of the roller 50, so as to ensure that the roller 50 is radially constrained and does not deviate from the central axis during rotation, thereby achieving the effect of rotation limiting.

[0041] In some embodiments, the bottom of the lifting driving mechanism 40 is arranged on the chassis 10, and the lifting platform 30 is arranged on the top of the lifting driving mechanism 40. For example, the lifting driving mechanism 40 is a scissors-type lifting mechanism driven by an electric push rod, and the lifting driving mechanism 40 has a plurality of metal arms connected by cross hinges. The electric push rod serves as the power source of the lifting driving mechanism 40, the push rod end of the electric push rod is connected to the fixed point of the scissors arm, and the electric push rod drives the plurality of metal arms to move through the hinge point by driving the push rod to extend and retract, so as to drive the lifting platform 30 to lift.

[0042] It can be understood that the use of the scissors-type lifting mechanism to drive the lifting platform 30 to lift makes the lifting movement more smooth, and the cross structure of the scissors arm can disperse the load to prevent the roller 50 from tilting during lifting, thereby improving the working stability.

[0043] In some embodiments, the transverse cross section of the roller 50 is circular, the outer surface of the roller 50 is smooth without protrusions, and the outer diameter of the roller 50 gradually decreases from bottom to top, so as to reduce the residue or entanglement of feed on the outer surface of the roller 50 during pushing.

[0044] For reference, please also refer to Figure 4 and Figure 5 For example, the roller 50 includes a first cover body 51 and a second cover body 52, the first cover body 51 and the second cover body 52 are connected and fixed in a split manner, the first cover body 51 and the second cover body 52 jointly form an inner cavity, and the chassis 10, the lifting driving mechanism 40, the lifting platform 30 and the connecting frame 70 are all accommodated in the inner cavity. It can be understood that the split structure of the roller 50 facilitates disassembly and maintenance, reduces equipment cost, and reduces the weight of a single piece after splitting, thereby reducing the load of lifting movement.

[0045] In some embodiments, the lower parts of the first cover body 51 and the second cover body 52 are locked and fixed by a clamping structure, and the upper parts of the first cover body 51 and the second cover body 52 are bolted and fixed by a bolt structure.

[0046] The clamping structure comprises a clamping pin 53 and a clamping slot 54 matched with the clamping pin 53, at least one of the first cover 51 and the second cover 52 is provided with the clamping pin 53, and the other one of the first cover 51 and the second cover 52 is provided with the clamping slot 54. The free end of the clamping pin 53 is provided with a clamping portion 531, and the size of the clamping portion 531 is greater than that of the clamping pin 53. The clamping slot 54 has a thin groove body 542 and a thick groove body 541, the groove width of the thick groove body 541 is greater than that of the thin groove body 542, the thin groove body 542 is matched with the clamping portion 531, and the thick groove body 541 is matched with the clamping pin 53.

[0047] Please refer to Figure 6 and Figure 7 , specifically, at least one of the first cover 51 and the second cover 52 is provided with a first blocking piece 55, and the other one of the first cover 51 and the second cover 52 is provided with a second blocking piece 56 matched with the first blocking piece 55. When the first cover 51 and the second cover 52 are combined, the first blocking piece 55 and the corresponding second blocking piece 56 are closely arranged. The first blocking piece 55 is provided with the clamping pin 53 extending outward, in this embodiment, the clamping pin 53 extends outward relative to the first blocking piece 55 and along the horizontal direction, and the clamping pin 53 has an extended main body 532, the end of the main body 532 is formed with the clamping portion 531, and the diameter of the clamping portion 531 is greater than that of the main body 532 of the clamping pin 53.

[0048] The second blocking piece 56 is provided with the clamping slot 54 extending along the vertical direction, the upper and lower ends of the clamping slot 54 are respectively formed with the thick groove body 541, the middle part of the clamping slot 54 is formed with the thin groove body 542, the inner diameter of the thick groove body 541 is greater than that of the clamping portion 531, the inner diameter of the thin groove body 542 is less than that of the clamping portion 531, and the inner diameter of the thin groove body 542 is greater than that of the main body 532 of the clamping pin 53. The second blocking piece 56 is respectively formed with a stepped portion 543 on both sides of the clamping slot 54, the thickness of the stepped portion 543 near the thick groove body 541 is small, the thickness of the stepped portion 543 near the thin groove body 542 is large, and the distance from the clamping portion 531 to the first blocking piece 55 is consistent with the maximum thickness of the stepped portion 543.

[0049] In the assembly, the clamping portion 531 is first inserted into the thick groove body 541 of the clamping slot 54, and then the main body 532 of the clamping pin 53 is slid into the thin groove body 542 along the vertical direction. In this process, the clamping portion 531 first passes through the thick groove body 541 and abuts against the position with small thickness of the stepped portion 543, with the sliding of the main body 532 of the clamping pin 53, the clamping portion 531 moves along the surface of the stepped portion 543, and finally abuts against the position with large thickness of the stepped portion 543. In this way, the clamping portion 531 and the second blocking piece 56 form mechanical interlocking. Once locked, the clamping portion 531 cannot be taken out of the thin groove body 542 due to the size difference, so that the first blocking piece 55 and the second blocking piece 56 are locked and fixed.

[0050] For example, the first cover 51 and the second cover 52 are arranged in a left-right symmetry. The first cover 51 is provided with a first baffle 55a and a second baffle 56a on two sides respectively, and the second cover 52 is also provided with a corresponding first baffle 55b and a second baffle 56b on two sides respectively. The first baffle 55a of the first cover 51 is connected with the second baffle 56b of the second cover 52 through the clamping pin 53 and the clamping groove 54, and the second baffle 56a of the first cover 51 is connected with the first baffle 55b of the second cover 52 through the clamping pin 53 and the clamping groove 54.

[0051] It can be understood that the first cover 51 and the second cover 52 are formed in a central symmetry, and can be produced as the same monomer, thereby reducing the production cost. In addition, the entire drum 50 has axial symmetry, so that the force acting on the drum 50 is more uniform when the drum 50 rotates, thereby reducing vibration or shaking.

[0052] In some embodiments, the inner side of the drum 50 is provided with a guide rail part 57 distributed around the base plate 10, and a plurality of limiting pulleys 60 are in contact with the guide rail part 57. For example, the inner side of the first cover 51 and the second cover 52 is provided with the guide rail part 57, and the guide rail parts 57 of the first cover 51 and the second cover 52 are smoothly connected to reduce the friction between the limiting pulley 60 and the guide rail part 57.

[0053] Specifically, the surface of the guide rail part 57 is parallel to the vertical direction and is smooth without protrusions, and the width of the guide rail part 57 in the vertical direction is greater than the width of the limiting pulley 60 in the vertical direction. When the drum 50 is raised and lowered, the limiting pulley 60 moves relative to the guide rail part 57 in the vertical direction, so that the limiting pulley 60 can still maintain the limiting function of the drum 50.

[0054] In some embodiments, the lifting platform 30 is provided with a support rod 31, and the support rod 31 is rotationally connected with the connecting frame 70. The connecting frame 70 is provided with a plurality of extension arms 71 along the circumferential direction, and the extension arms 71 are fixedly connected with the drum 50. For example, the support rod 31 extends in the vertical direction, and the position of the support rod 31 passes through the central axis of the drum 50. The support rod 31 penetrates the connecting frame 70, and a rotating bearing is arranged between the support rod 31 and the connecting frame 70.

[0055] When the lifting driving mechanism 40 drives the lifting platform 30 to lift, the connecting frame 70 synchronously lifts with the support rod 31, thereby driving the drum 50 to lift. When the drum 50 rotates, the connecting part rotates with the drum 50 and rotates relative to the support rod 31. In this way, the drum 50 is rotationally connected with the lifting platform 30 in the circumferential direction, and the drum 50 is fixedly connected with the lifting platform 30 in the axial direction.

[0056] In some embodiments, the main body of the connecting frame 70 is disc-shaped. The support rod 31 is arranged in the center of the connecting frame 70 and is rotationally connected with the connecting frame 70. The connecting frame 70 is provided with a plurality of extension arms 71 along the circumference thereof, and the extension arms 71 are fixedly connected with the drum 50.

[0057] For example, the inner side of the drum 50 is provided with reinforcing ribs 58, the extension arms 71 extend to the reinforcing ribs 58 of the drum 50 along the radial direction of the connecting frame 70, and are bolted and fixed with the reinforcing ribs 58, so that the connecting frame 70 and the drum 50 are relatively fixed. In addition, the extension arms 71 between the first cover body 51 and the second cover body 52 are bolted and fixed with the corresponding first blocking piece 55 and second blocking piece 56, so as to ensure the connection stability of the first cover body 51 and the second cover body 52.

[0058] For example, the number of the extension arms 71 is 6, two of which are bolted with the reinforcing ribs 58 on the inner side of the first cover body 51, two of which are bolted with the reinforcing ribs 58 on the inner side of the second cover body 52, and the remaining two are bolted with the corresponding first blocking piece 55 and second blocking piece 56 at the connection between the first cover body 51 and the second cover body 52.

[0059] For example, the number of the extension arms 71 is 6, two of which are bolted with the reinforcing ribs 58 on the inner side of the first cover body 51, two of which are bolted with the reinforcing ribs 58 on the inner side of the second cover body 52, and the remaining two are bolted with the corresponding first blocking piece 55 and second blocking piece 56 at the connection between the first cover body 51 and the second cover body 52. Figure 8 In some embodiments, the upper assembly 80 includes a top cover 81 and a functional module 82 arranged on the top cover 81. The top cover 81 is fixed to the lifting platform 30 and covers the drum 50. The top cover 81 is disc-shaped and covers the inner cavity of the drum 50. The top cover 81 is fixed to the top of the support rod 31. For example, the top cover 81 covers the drum 50 and is relatively movable with the drum 50, so that the top cover 81 and the drum 50 can rotate relative to each other or can be separated and removed. When the drum 50 rotates, the top cover 81 remains fixed to the lifting platform 30, and the drum 50 rotates relative to the top cover 81. When the drum 50 is lifted, the lifting platform 30 drives the top cover 81 to lift through the support rod 31. Specifically, the functional module 82 is used to realize the functions of the pushing robot 100. The functional module 82 can be at least one of a charging module 83, a distance measuring module 84, and a camera module 85. In the example of the present application, the functional module 82 includes the charging module 83, the distance measuring module 84, and the camera module 85. The top cover 81 is provided with a support seat 86, and the charging module 83, the distance measuring module 84, and the camera module 85 are arranged on the support seat 86. It can be understood that the functional module 82 of the pushing robot 100 can be configured according to actual needs, such as a navigation positioning module, a control module, and a remote communication module. The present application does not limit this.

[0060] For example, the number of the extension arms 71 is 6, two of which are bolted with the reinforcing ribs 58 on the inner side of the first cover body 51, two of which are bolted with the reinforcing ribs 58 on the inner side of the second cover body 52, and the remaining two are bolted with the corresponding first blocking piece 55 and second blocking piece 56 at the connection between the first cover body 51 and the second cover body 52. Figure 9In some embodiments, the charging module 83 is configured to be docked with the charging pile 200 in a first direction parallel to the advancing direction of the pushing robot 100, i.e. the X direction in the figure, and to be charged. The charging module 83 has a first electrode 831 and a guide post 832 arranged at the side of the first electrode 831. The charging pile 200 has a pile body 90, a bracket 91 arranged on the pile body 90, a second electrode 92 slidingly connected to the bracket 91 in a second direction, and a wedge head 93 arranged on the second electrode 92. The first direction and the second direction have an included angle, and the second direction is the Y direction in the figure. When the charging module 83 approaches the bracket 91 in the first direction, the guide post 832 abuts against the wedge head 93 and pushes the second electrode 92 to move in the second direction, so that the first electrode 831 and the second electrode 92 are aligned in the first direction.

[0061] For example, the support seat 86 is arranged above the top cover 81, and the bottom of the support seat 86 is fixed to the top cover 81 by a support block. The first electrode 831 is arranged at the bottom of the front end of the support seat 86. The guide post 832 is in a cylindrical shape and extends downward in the vertical direction. The guide post 832 has two guide posts 832 arranged at opposite sides of the first electrode 831 in the second direction.

[0062] For example, the bracket 91 is provided with a receiving groove 911 formed as a notch at one side of the bracket 91, and the notch is used for inserting the support seat 86 into the bracket 91. The second electrode 92 is arranged in the receiving groove 911, and the wedge head 93 is arranged at the side of the second electrode 92 facing the notch of the receiving groove 911. The wedge head 93 has wedge surfaces formed at opposite sides in the second direction, and the distance between the two wedge surfaces increases in the direction away from the notch of the receiving groove 911. The second electrode 92 is provided with a slide rod 94 and a resilient member 95. The slide rod 94 extends in the second direction, is fixed to the second electrode 92, and penetrates through the bracket 91 and is slidingly connected to the bracket 91 in the second direction. The resilient member 95 is used to push the slide rod 94 and the bracket 91 to move relative to each other in the second direction. The resilient member 95 is a spring, and the spring is sleeved on the slide rod 94 and has two ends abutting against the bracket 91 and the second electrode 92, respectively.

[0063] When the pushing robot 100 needs to be charged after completing a task, the pushing robot 100 moves to the charging pile 200. In the process of the pushing robot 100 approaching the charging pile 200, the support seat 86 gradually inserts into the inside of the support 91, and the guide column 832 of the support seat 86 can first contact the front end of the wedge head 93. With the support seat 86 continuing to move forward, the wedge head 93 generates a component force through the wedge face angle, pushing the second electrode 92 to move left and right in the second direction along the slide rod 94, compensating for the initial position deviation, so that the first electrode 831 and the second electrode 92 gradually align. When the pushing robot 100 moves to the position, the first electrode 831 is located above the second electrode 92, and the positive and negative electrodes of the first electrode 831 are respectively in contact with the positive and negative electrodes of the second electrode, and automatic charging begins.

[0064] It can be understood that, by using the cooperation of the guide column 832 and the wedge head 93, the first electrode 831 and the second electrode 92 can automatically fine-tune the position in the second direction during the docking process, ensuring that the relative positional relationship of the first electrode 831 and the second electrode 92 reaches an ideal state, and improving the charging efficiency and stability.

[0065] When the pushing robot 100 moves away from the charging pile 200, under the action of the elastic member 95, the second electrode 92 resets in the second direction, and the second electrode 92 moves to the middle position of the support 91, ensuring that the relative positional relationship with the guide column 832 is appropriate for the next charging.

[0066] In some embodiments, the charging module 83 also has a first magnetic attraction member 833 fixed to the front end of the support seat 86. The charging pile 200 also has a cleaning member 96 and a second magnetic attraction member 97, wherein the cleaning member 96 is slidingly connected to the support 91 in the first direction, and the second magnetic attraction member 97 is arranged on the cleaning member 96 and is used to cooperate with the first magnetic attraction member 833 to be adsorbed, and the moving path of the cleaning member 96 passes through the second electrode 92. When the charging module 83 approaches the support 91 in the first direction, the first magnetic attraction member 833 abuts against the second magnetic attraction member 97 and pushes the cleaning member 96 away from the second electrode 92. When the charging module 83 moves away from the support 91 in the first direction, the first magnetic attraction member 833 adsorbs the second magnetic attraction member 97 and drives the cleaning member 96 to move through the second electrode 92.

[0067] For example, the bottom of the cleaning member 96 is provided with bristles. The cleaning member 96 is arranged to extend in the second direction, and the cleaning member 96 is located above the second electrode 92. The support 91 is provided with slide rails 912 extending in the first direction on both sides, and the two ends of the cleaning member 96 are slidingly arranged in the slide rails 912. The second magnetic attraction member 97 is fixed to the side of the cleaning member 96 facing the slot opening of the accommodating groove 911.

[0068] When the pushing robot 100 is not connected with the charging pile 200, the cleaning piece 96 is located on the side of the second electrode 92 facing the slot of the accommodating groove 911. During the approach of the pushing robot 100 to the charging pile 200, the support base 86 is gradually inserted into the support 91, the first magnetic attraction piece 833 of the support base 86 is in contact with the second magnetic attraction piece 97, and as the support base 86 continues to move forward, the cleaning piece 96 is pushed to move in the first direction and pass through the second electrode 92, in the process, the cleaning piece 96 scrapes and cleans the surface of the second electrode 92 through the bristles. When the pushing robot 100 moves to the position, the cleaning piece 96 is located on the side of the second electrode 92 away from the slot of the accommodating groove 911.

[0069] During the movement of the pushing robot 100 away from the charging pile 200, the support base 86 gradually separates from the support 91, and by the attraction between the first magnetic attraction piece 833 and the second magnetic attraction piece 97, as the support base 86 moves backward, the cleaning piece 96 is pushed to move again and pass through the second electrode 92, in the process, the cleaning piece 96 scrapes and cleans the surface of the second electrode 92 again through the bristles, until the pushing robot 100 completely separates from the charging pile 200, and the cleaning piece 96 is reset to move to the side of the second electrode 92 facing the slot of the accommodating groove 911.

[0070] It can be understood that during the charging connection or the charging separation, the cleaning piece 96 can clean the second electrode 92 synchronously, remove the dust, feed debris or oxide layer on the surface of the electrode, ensure low-resistance contact, avoid interruption of charging or spark risk, and prolong the service life of the equipment.

[0071] In some embodiments, the distance measuring module 84 is a distance measuring sensor for measuring the distance between the pushing robot 100 and the surrounding objects. When the pushing robot 100 moves in the feed passage, the pushing robot 100 can keep a certain distance from the fence through the distance measuring module 84 and walk along the fence. When the pushing robot 100 moves in other positions, the pushing robot 100 can obtain the magnetic nail information preset on the road surface through the magnetic sensor 23 to navigate.

[0072] In some embodiments, the support base 86 is provided with a telescopic pipe mechanism 841 connected to the distance measuring module 84. The telescopic pipe mechanism 841 can dynamically adjust the detection position of the distance measuring module 84 in the form of length telescoping and angle swinging, so as to adapt to different fence structures and complex terrains.

[0073] In some embodiments, the camera module 85 is a camera, which is arranged at the front end of the support seat 86. The camera module 85 is used to capture picture information in front of the pushing robot 100, and transmit the picture to the vehicle computer in real time. The software running in the vehicle computer analyzes the picture to determine whether there is an obstacle in front of the pushing robot 100. In the case that there is an obstacle in front of the pushing robot 100, a stop signal can be sent to the control device of the walking mechanism 20 to make the pushing robot 100 stop advancing, thereby playing an obstacle avoidance function.

[0074] The embodiments of the present application also provide a charging device.

[0075] As shown in Figures 1 to 9 The charging device includes the charging pile 200 and the pushing robot 100 in any of the foregoing embodiments. The pushing robot 100 is provided with the charging module 83, which is used to be connected with the charging pile 200 and be charged. It can be understood that the specific structure of the charging pile 200 and the implementation principle of the charging device can be seen from the related description in the foregoing embodiments, and the present application will not be described here.

[0076] It is apparent for those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, and the present application can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the foregoing embodiments of the present application should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the foregoing description, and all changes falling within the meaning and range of the equivalent elements of the claims are intended to be included in the present application.

Claims

1. A pusher robot, characterized in that, The pusher robot comprises a chassis, a walking mechanism arranged on the chassis and used for driving the chassis to move, a lifting platform located above the chassis, a lifting driving mechanism arranged on the chassis and connected with the lifting platform and used for driving the lifting platform to lift, and a roller covered on the chassis and synchronously lifted with the lifting platform, wherein the roller is internally provided with a connecting frame rotationally connected with the lifting platform, and the chassis is provided with a limiting pulley located below the connecting frame, the limiting pulley is in contact with the inner side of the roller, and the limiting pulley limits the roller. The inner side of the roller is provided with a guide rail part distributed around the chassis, and a plurality of limiting pulleys are respectively in contact with the guide rail part; the rotation axis of the limiting pulley is parallel to the vertical direction, the width of the guide rail part in the vertical direction is greater than the width of the limiting pulley in the vertical direction; when the roller lifts, the limiting pulley moves relative to the guide rail part in the vertical direction. The limiting pulley has a plurality of limiting pulleys, and the plurality of limiting pulleys are spaced around the chassis and respectively in contact with the inner side of the roller. The lifting platform is provided with a support rod fixed to the lifting platform and rotationally connected with the connecting frame; the connecting frame is provided with a plurality of extension arms along the circumference thereof, and the extension arms are fixedly connected with the roller. The roller comprises a first cover body and a second cover body, at least one of the first cover body and the second cover body is provided with a pin, and the other one of the first cover body and the second cover body is provided with a clamping groove matched with the pin; the free end of the pin is provided with a clamping part, and the size of the clamping part is greater than the size of the pin. The clamping groove has a fine groove body and a coarse groove body, the groove width of the coarse groove body is greater than the groove width of the fine groove body, the coarse groove body is matched with the clamping part, and the fine groove body is matched with the pin.

2. The pusher robot according to claim 1, characterized in that, The pusher robot further comprises a top cover and a functional module arranged on the top cover, the top cover is fixed to the lifting platform, the top cover covers above the roller and is movable relative to the roller.

3. The pusher robot of claim 1, wherein, The functional module comprises a charging module, and the charging module is used for docking with a charging pile in a first direction and charging; 4. The pusher robot of claim 1, wherein, The charging module has a first electrode and a guide column arranged on the side of the first electrode; the charging pile has a bracket, a second electrode slidingly connected to the bracket in a second direction, and a wedge-shaped head arranged on the second electrode, and the first direction and the second direction have an included angle; 5. The pusher robot of claim 1, wherein, When the charging module approaches the bracket in the first direction, the guide column abuts against the wedge-shaped head and pushes the second electrode to move in the second direction, so that the first electrode and the second electrode are aligned in the first direction. The functional module comprises a charging module, and the charging module is used for docking with a charging pile in a first direction and charging; 6. The pusher robot according to any one of claims 1 to 5, characterized in that, ​ 7. The pusher robot according to claim 6, characterized in that, ​ ​ ​ 8. The pusher robot of claim 6, wherein, ​ The charging module has a first electrode and a first magnetic attraction element; the charging pile has a support, a second electrode arranged on the support, a cleaning element slidingly connected to the support along a first direction, and a second magnetic attraction element arranged on the cleaning element, and a moving path of the cleaning element passes through the second electrode; When the charging module approaches the support along the first direction, the first magnetic attraction element abuts against the second magnetic attraction element and pushes the cleaning element away from the second electrode; When the charging module moves away from the support along the first direction, the first magnetic attraction element attracts the second magnetic attraction element and drives the cleaning element to move through the second electrode.

9. The pusher robot of claim 6, wherein, The functional module includes at least one of a charging module, a distance measuring module, and a camera module.

10. A pushing device, characterized in that The charging pile and the pushing robot as claimed in any one of claims 1 to 9 are provided with a charging module, and the charging module is used for being connected with the charging pile and being charged.

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