An automatic tracing feeding vehicle

Abstract

The present invention relates to the technical field of feeding vehicles, and specifically discloses an automatic tracking feeding vehicle, which includes: a walking support mechanism, a hopper located on the walking support mechanism and having a discharge port at the bottom, a forage conveying mechanism installed at the bottom of the hopper and beside the discharge port, a blanking mechanism installed below the discharge port, and a main control mechanism and a power supply mechanism that are electrically connected to the walking support mechanism, the forage conveying mechanism, and the blanking mechanism. The automatic tracking feeding vehicle of the present invention realizes timed and fixed-point feeding, has a very high degree of automation, the overall structure of the vehicle body is reasonably designed and compact, is suitable for in-field feed feeding in small-scale farms, saves manpower and material resources, and has a very high promotion value.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding vehicles, and particularly to an automatically tracing feeding vehicle. Background Art

[0002] At present, the production facilities of many farmers or farms are very simple and the mechanization level is low; most small and medium-sized breeding users still use manual feeding, which has a large labor intensity, a long feeding time, uneven feeding, easy material leakage and stacking, resulting in waste of materials.

[0003] To reduce the labor amount, some feeding vehicles have also appeared in the prior art. However, the existing feeding vehicles all have rail-type walking mechanisms in the early stage, and generally have the following defects: too low automation level, insufficient flow rate, high cost, large investment, the need for laying rails on the road surface and high requirements for the conditions of the walking road surface at the operation site. There are also some feed feeding vehicles that are large-tonnage transport vehicles, mainly used for transporting feed from the outside to the inside of large and medium-sized breeding enterprises. However, due to their large tonnage, large occupied space and inflexible transfer, they are not suitable for transporting feed in relatively narrow spaces inside small and medium-sized breeding enterprises, and manual feed transfer is still required inside the farm. The problems are that the structure is compact, the working labor intensity of the transfer staff is large, the efficiency is low, and the feed is easily contaminated.

[0004] Therefore, it is necessary to design a feeding vehicle to solve the above technical problems. Summary of the Invention

[0005] In view of the technical problems in the prior art, the present invention provides an automatically tracing feeding vehicle.

[0006] An automatically tracing feeding vehicle includes: a walking support mechanism, a hopper located on the walking support mechanism and having a discharge port at the bottom, a forage conveying mechanism installed at the bottom of the hopper and beside the discharge port, a feeding mechanism installed below the discharge port, and a main control mechanism and a power supply mechanism both electrically connected to the walking support mechanism, the forage conveying mechanism, and the feeding mechanism. Among them,

[0007] The walking support mechanism includes a hopper mounting frame, a driving walking assembly and a driven walking assembly installed below the hopper mounting frame. The driving walking assembly and the driven walking assembly are arranged in parallel, and a first driving motor assembly and a steering motor assembly are installed on the driving walking assembly;

[0008] The forage conveying mechanism includes a first support plate and a second support plate arranged oppositely, and a first conveying assembly and a second conveying assembly installed between the first support plate and the second support plate. The first conveying assembly and the second conveying assembly are respectively installed on the left side and the right side of the discharge port; the first conveying assembly is drivingly connected with a first conveying motor assembly, and the second conveying assembly is drivingly connected with a second conveying motor assembly;

[0009] The blanking mechanism includes a conveyor motor assembly and a conveyor belt assembly, and the conveying direction of the conveyor belt assembly is perpendicular to the conveying direction of the first conveying assembly;

[0010] The main control mechanism includes a first drive motor control circuit, a feeding control circuit, and a steering motor control circuit; the first drive motor control circuit is connected to the first drive motor assembly; the feeding control circuit is connected to the first conveying motor assembly, the second conveying motor assembly, and the conveyor motor assembly; the steering motor control circuit is connected to the steering motor assembly;

[0011] The power supply mechanism is connected to the first drive motor control circuit, the feeding control circuit, and the steering motor control circuit.

[0012] The automatic tracing feeding vehicle of the present invention realizes automatic feeding through the forage conveying mechanism, the blanking mechanism combined with the feeding control circuit, and opens the blanking port between the first conveying assembly and the second conveying assembly, which can reduce the conveying distance of the forage in the hopper, thereby saving electric energy; the walking support mechanism combined with the first drive motor control circuit can directly realize the automatic walking of the feeding vehicle according to the preset time and path. The automatic tracing feeding vehicle realizes timed and fixed-point feeding as a whole, has a very high degree of automation, the overall structure design of the whole vehicle is reasonable and compact, is suitable for the on-site feed delivery in small-scale farms, saves manpower and material resources, and has very high popularization value. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 It is a schematic structural diagram of an automatic tracing feeding vehicle according to an embodiment of the present invention;

[0015] Figure 2 It is a partial structural diagram (one) of an automatic tracing feeding vehicle according to an embodiment of the present invention;

[0016] Figure 3 It is a partial structural diagram (two) of an automatic tracing feeding vehicle according to an embodiment of the present invention;

[0017] Figure 4 It is a partial structural diagram (three) of an automatic tracing feeding vehicle according to an embodiment of the present invention;

[0018] Figure 5 It is a partial structural diagram (four) of an automatic tracing feeding vehicle according to an embodiment of the present invention;

[0019] Figure 6 Partial circuit schematic diagram (1) of the main control mechanism in an automatic trace - seeking feeding vehicle according to an embodiment of the present invention;

[0020] Figure 7 Partial circuit schematic diagram (2) of the main control mechanism in an automatic trace - seeking feeding vehicle according to an embodiment of the present invention;

[0021] Figure 8 Partial circuit schematic diagram (3) of the main control mechanism in an automatic trace - seeking feeding vehicle according to an embodiment of the present invention;

[0022] Figure 9 Partial circuit schematic diagram (4) of the main control mechanism in an automatic trace - seeking feeding vehicle according to an embodiment of the present invention;

[0023] Wherein: 1 - traveling support mechanism, 11 - hopper mounting frame, 12 - active traveling assembly, 121 - first roller, 122 - second roller, 123 - first connecting shaft, 124 - first leaf spring, 125 - second leaf spring, 13 - driven traveling assembly, 131 - third roller, 132 - fourth roller, 133 - second connecting shaft, 134 - third leaf spring, 135 - fourth leaf spring, 14 - first drive motor assembly, 2 - hopper, 3 - forage conveying mechanism, 31 - first support plate, 32 - second support plate, 33 - first conveying assembly, 331 - first conveying motor assembly, 332 - first transmission shaft, 333 - second transmission shaft, 334 - first sprocket, 335 - second sprocket, 336 - third sprocket, 337 - fourth sprocket, 338 - first chain, 339 - second chain, 34 - second conveying assembly, 341 - second conveying motor assembly, 342 - third transmission shaft, 343 - fourth transmission shaft, 344 - fifth sprocket, 345 - sixth sprocket, 346 - seventh sprocket, 347 - eighth sprocket, 348 - third chain, 349 - fourth chain, 35 - scraper, 4 - blanking mechanism, 41 - conveying motor assembly, 42 - conveyor belt assembly, 5 - distance detection mechanism, 51 - support frame, 52 - lifting belt, 53 - lifting motor assembly, 54 - proximity switch, 55 - switch mounting frame. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0025] Such as Figures 1 to 5As shown in the figure, an automatic tracing feeding vehicle according to an embodiment of the present invention includes: a traveling support mechanism 1, a hopper 2 located on the traveling support mechanism 1 and having a discharge port at the bottom, a forage conveying mechanism 3 installed at the bottom of the hopper 2 and beside the discharge port, a feeding mechanism 4 installed below the discharge port, and a main control mechanism and a power supply mechanism that are electrically connected to the traveling support mechanism 1, the forage conveying mechanism 3, and the feeding mechanism 4 respectively.

[0026] Among them, the traveling support mechanism 1 includes a hopper mounting frame 11, a driving traveling assembly 12 and a driven traveling assembly 13 installed below the hopper mounting frame 11. The driving traveling assembly 12 and the driven traveling assembly 13 are arranged in parallel. A first driving motor assembly 14 and a steering motor assembly are installed on the driving traveling assembly 12. In this embodiment, preferably, two steering motor assemblies are provided and installed on the driven traveling assembly 13 to respectively realize the left and right turning of the traveling support mechanism 1.

[0027] The forage conveying mechanism 3 includes a first support plate 31 and a second support plate 32 arranged opposite to each other, and a first conveying assembly 33 and a second conveying assembly 34 installed between the first support plate 31 and the second support plate 32. The first conveying assembly 33 and the second conveying assembly 34 are respectively installed on the left and right sides of the discharge port; the first conveying assembly 33 is drivingly connected to a first conveying motor assembly 331, and the second conveying assembly 34 is drivingly connected to a second conveying motor assembly 341; the feeding mechanism 4 includes a conveying motor assembly 41 and a conveyor belt assembly 42, and the conveying direction of the conveyor belt assembly 42 is perpendicular to the conveying direction of the first conveying assembly 33. The first conveying assembly 33 and the second conveying assembly 34 are respectively located on the left and right sides of the discharge port, and respectively convey the forage in the hopper from both sides to the middle discharge port position. After the material falls out of the discharge port, it falls on the conveyor belt assembly, and the conveying motor assembly 41 rotates to convey the forage forward and into the trough, realizing automatic filling.

[0028] The main control mechanism includes a first driving motor control circuit, a feeding control circuit, and a steering motor control circuit; the first driving motor control circuit is electrically connected to the first driving motor assembly 14; the feeding control circuit is electrically connected to the first conveying motor assembly 331, the second conveying motor assembly 332, and the conveying motor assembly 41; the steering motor control circuit is connected to the steering motor assembly. The first driving motor control circuit is used to control the forward or backward movement of the first driving motor assembly 14 and control the rotation speed of the first driving motor assembly 14, thereby realizing the control of the traveling speed of the automatic tracing feeding vehicle. The feeding control circuit controls the motion states of the first conveying motor assembly 331, the second conveying motor assembly 332, and the conveying motor assembly 41 to realize the control of the feeding process. The steering motor control circuit is used to control the working state of the steering motor assembly and can adjust the traveling direction of the automatic tracing feeding vehicle according to a preset route.

[0029] The power supply mechanism is connected to the first drive motor control circuit, the feeding control circuit, and the steering motor control circuit, respectively, to supply power for the operation of the entire automatic tracing feeder vehicle. Specifically, as Figure 5 shown, the automatic tracing feeder vehicle of the embodiment of the present invention further includes a distance detection mechanism 5, which includes a support frame 51, a lifting belt 52, a lifting motor assembly 53, a proximity switch 54, and a switch mounting bracket 55. Among them, the support frame 51 is installed below the hopper mounting bracket 11; the lifting belt 52 is vertically arranged on the support frame 51 and is in transmission connection with the lifting motor assembly 53; the proximity switch 54 is installed on the switch mounting bracket 55, and the switch mounting bracket 55 is installed on the lifting belt 52; the proximity switch 54 is electrically connected to the first drive motor control circuit. The proximity switch 54 in this embodiment realizes lifting through the action of the lifting motor assembly 53 and is used to detect the distance from the ground, which is taken as a consideration factor for the driving of an automatic tracing feeder vehicle.

[0030] It should be noted that the first drive motor assembly 14, the steering motor assembly, the first conveyor motor assembly 331, the second conveyor motor assembly 341, the conveyor motor assembly 41, the lifting motor assembly 53, etc. in this embodiment should all include corresponding motor products and drive circuits for driving the motors. Those skilled in the art can correspondingly match the drive circuits according to the product models of the selected motors when implementing this solution. This embodiment does not make specific limitations on this.

[0031] Specifically, the power supply mechanism includes a power supply battery, a voltage conversion module, and a current detection module. Among them, the power supply battery is electrically connected to the first drive motor assembly 14, the steering motor assembly, the first conveyor motor assembly 331, the second conveyor motor assembly 341, the conveyor motor assembly 41, the lifting motor assembly 53, the proximity switch 54, the first drive motor control circuit, the feeding control circuit, and the steering motor control circuit through the voltage conversion module. The input end of the current detection module is connected to the power supply battery, and the output end is connected to the first drive motor control circuit. The first drive motor control circuit can determine the power of the power supply battery according to the output value of the current detection module, which is convenient to stop feeding and return to the starting point position when the power is too low, and then feed after charging.

[0032] Specifically, as Figure 6 shown, the first drive motor control circuit includes a control chip U01, resistors R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12, field effect transistors Q1, Q2, Q3, Q4, Q5, Q6, diodes D1, and D2. Among them,

[0033] The VCC+ terminal of the control chip U01 is connected to the VCC12V voltage, the VCC- terminal is grounded, the IN+ terminal, IN2+ terminal, IN3+ terminal, and IN4+ terminal are connected to the current detection terminal, the IN1- terminal is connected to the sliding terminal of the resistor R2, the IN2- terminal is connected to the sliding terminal of the resistor R3, the IN3- terminal is connected to the sliding terminal of the resistor R4, the IN4- terminal is connected to the sliding terminal of the resistor R1, the OUT1 terminal is connected to the positive electrode of the diode D1, the OUT2 terminal is connected to the positive electrode of the diode D2, and the OUT1 terminal is connected to the first terminal of the resistor R5;

[0034] The second terminal of the resistor R5 is connected to the base of the field effect transistor Q1; the emitter of the field effect transistor Q1 is grounded, and the collector of the field effect transistor Q1 is connected to the first terminal of the resistor R6; the second terminal of the resistor R6 is connected to the first drive motor assembly;

[0035] The first terminals of the resistors R1, R2, R3, and R4 are all connected to the VCC12V voltage, and the second terminals of the resistors R1, R2, R3, and R4 are all grounded;

[0036] The negative electrode of the diode D1 is connected to the first terminal of the resistor R10, the second terminal of the resistor R10 is connected to the base of the field effect transistor Q4, the emitter of the field effect transistor Q4 is grounded, and the collector of the field effect transistor Q4 is connected to the first terminal of the resistor R12; the negative electrode of the diode D2 is connected to the first terminal of the resistor R11, the second terminal of the resistor R11 is connected to the base of the field effect transistor Q5, the collector of the field effect transistor Q5 is connected to the base of the field effect transistor Q6, and the emitter of the field effect transistor Q5 is grounded; the second terminal of the resistor R12 is connected to the base of the field effect transistor Q6, the collector of the field effect transistor Q6 receives the brake signal, and the emitter of the field effect transistor Q6 is grounded; the first terminal of the resistor R8 is connected to the VCC12V voltage, and the second terminal of the resistor R8 is connected to the first terminal of the resistor R9 and the collector of the field effect transistor Q4; the second terminal of the resistor R9 is connected to the base of the field effect transistor Q2; the emitter of the field effect transistor Q2 is grounded, and the collector of the field effect transistor Q2 is connected to the base of the field effect transistor Q3; the emitter of the field effect transistor Q3 is grounded, and the emitter of the field effect transistor Q3 receives the brake signal; the first terminal of the resistor R7 is connected to the VCC12V voltage, and the second terminal of the resistor R7 is connected to the base of the field effect transistor Q3.

[0037] Specifically, such as Figure 7As shown, the feeding control circuit includes an oscillation delay chip U02, an oscillation delay chip U03, an oscillation delay chip U04, resistors R13, R14, R15, R16, R17, R18, R19, R20, R21, R22, R23, R24, R25, R26, R27, diodes D3, D4, D5, D6, D7, D8, field effect transistors Q7, Q8, Q9, Q10, Q11, Q12, Q13, Q14, Q15, Q16, Q17, capacitors C1, C2, C3, C4, C5, C6, C7, C8. Among them,

[0038] The VCC terminal and RST terminal of the oscillation delay chip U02 are connected to the VCC12V voltage. The DISCH terminal is connected to the first end of the capacitor C2. The TRIG terminal and THRES terminal are connected. The CONT terminal is connected to the first end of the capacitor C1. The OUT terminal is connected to the first end of the resistor R15. The GND terminal is grounded. The second end of the capacitor C1 is grounded. The second end of the capacitor C2 is connected to the VCC12V voltage. The second end of the resistor R15 is connected to the base of the field effect transistor Q7. The collector of the field effect transistor Q7 is grounded. The emitter of the field effect transistor Q7 is connected to the first end of the resistor R16. The second end of the resistor R16 is connected to the base of the field effect transistor Q8. The collector of the field effect transistor Q8 is connected to the VCC24V voltage. The emitter of the field effect transistor Q8 is connected to the first conveyor motor assembly and the second conveyor motor assembly. The first end of the resistor R14 is connected to the VCC12V voltage. The second end of the resistor R14 is connected to the TRIG terminal of the oscillation delay chip U02.

[0039] The first end of the resistor R13 is connected to the TRIG terminal of the oscillation delay chip U02. The second end of the resistor R13 is connected to the negative electrodes of the diodes D3 and D4. The positive electrode of the diode D4 is connected to the discharging switch. The positive electrode of the diode D3 is connected to the negative electrode of the diode D7. The positive electrode of the diode D7 is connected to the first end of the resistor R26. The second end of the resistor R26 is connected to the base of the field effect transistor Q16. The collector of the field effect transistor Q16 is connected to the VCC12V voltage. The emitter of the field effect transistor Q16 is connected to the first end of the resistor R25. The second end of the resistor R25 is grounded. The collector of the field effect transistor Q15 is connected to the VCC12V voltage. The base of the field effect transistor Q15 is connected to the first end of the resistor R25. The emitter of the field effect transistor Q15 is connected to the TRIG terminal of the oscillation delay chip U04.

[0040] The VCC terminal and the RST terminal of the oscillation delay chip U03 are connected to the emitter of the field effect transistor Q10. The DISCH terminal is connected to the first terminal of the capacitor C3. The TRIG terminal and the THRES terminal are connected. The CONT terminal is connected to the first terminal of the capacitor C4. The OUT terminal is connected to the first terminal of the resistor R21, and the GND terminal is grounded. The second terminal of the capacitor C3 is connected to the VCC terminal of the oscillation delay chip U03. The second terminal of the capacitor C4 is grounded. The second terminal of the resistor R21 is connected to the base of the field effect transistor Q12. The emitter and the collector of the field effect transistor Q12 are both grounded. The first terminal of the capacitor C5 is connected to the TRIG terminal of the oscillation delay chip U03, and the second terminal of the capacitor C5 is grounded. The base of the field effect transistor Q10 is connected to the first terminal of the resistor R18 and the emitter of the field effect transistor Q11. The collector of the field effect transistor Q10 is connected to the VCC12V voltage. The collector of the field effect transistor Q11 is connected to the VCC12V voltage, and the base of the field effect transistor Q11 is connected to the first terminal of the resistor R17. The second terminal of the resistor R18 is grounded. The second terminal of the resistor R17 is connected to the positive electrode of the diode D5. The negative electrode of the diode D5 is connected to the discharging switch.

[0041] The VCC terminal and the RST terminal of the oscillation delay chip U04 are connected to the VCC12V voltage. The DISCH terminal is connected to the first terminal of the capacitor C8. The TRIG terminal and the THRES terminal are connected. The CONT terminal is connected to the first terminal of the capacitor C6. The OUT terminal is connected to the first terminal of the resistor R22 and the first terminal of the resistor R23, and the GND terminal is grounded. The second terminal of the capacitor C8 is connected to the VCC12V voltage. The second terminal of the capacitor C6 is grounded. The second terminal of the resistor R22 is connected to the base of the field effect transistor Q14. The collector and the emitter of the field effect transistor Q14 are both grounded. The second terminal of the resistor R23 is connected to the base of the field effect transistor Q13. The collector of the field effect transistor Q13 is grounded, and the emitter of the field effect transistor Q13 is connected to the negative electrode of the diode D6. The positive electrode of the diode D6 is connected to the first terminal of the resistor R19. The second terminal of the resistor R19 is connected to the base of the field effect transistor Q9. The collector of the field effect transistor Q9 is connected to the VCC12V voltage, and the emitter of the field effect transistor Q9 is connected to the second terminal of the resistor R20 and the sliding end. The first terminal of the resistor R20 is connected to the emitter of the field effect transistor Q10. The first terminal of the resistor R24 is grounded, the second terminal of the resistor R24 is connected to the sliding end and is also connected to the TRIG terminal of the oscillation delay chip U04. The positive electrode of the capacitor C7 is connected to the VCC12V voltage, and the negative electrode of the capacitor C7 is connected to the TRIG terminal of the oscillation delay chip U04.

[0042] The collector of the field effect transistor Q17 is connected to the VCC24V voltage. The base of the field effect transistor Q17 is connected to the first terminal of the resistor R27. The emitter of the field effect transistor Q17 is connected to the conveying motor assembly. The second terminal of the resistor R27 is connected to the positive electrode of the diode D8. The negative electrode of the diode D8 is connected to the discharging switch.

[0043] Specifically, as Figure 8 shown, the steering motor control circuit includes an oscillation delay chip U201, an oscillation delay chip U202, field effect transistors Q201, Q202, Q203, Q204, Q205, Q206, Q207, Q208, Q209, Q210, Q211, Q212, Q213, Q214, Q215, Q216, resistors R201, R202, R203, R204, R205, R206, R207, R208, R209, R210, R211, R212, R213, R214, R215, R216, R217, R218, R219, R220, R221, R222, capacitors C201, C202, C203, C204, C205, and capacitor C206. Among them,

[0044] The VCC terminal and RST terminal of the oscillation delay chip U201 are connected to the first terminal of the resistor R201 and the first terminal of the resistor R203. The DISCH terminal is connected to the positive electrode of the diode D203 and the negative electrode of the diode D204. The TRIG terminal and the THRES terminal are connected. The CONT terminal is connected to the first terminal of the capacitor C206. The OUT terminal is connected to the first terminal of the resistor R202. The GND terminal is grounded; the second terminal of the capacitor C206 is grounded; the first terminal of the capacitor C201 is connected to the TRIG terminal of the oscillation delay chip U201, and the second terminal of the capacitor C201 is grounded; the second terminal of the resistor R201 is connected to the collector of the field effect transistor Q201; the emitter of the field effect transistor Q201 is grounded, and the base of the field effect transistor Q201 is connected to the negative electrode of the diode D201; the positive electrode of the diode D201 is connected to the steering limit switch; the base of the field effect transistor Q202 is connected to the collector of the field effect transistor Q201, the emitter of the field effect transistor Q202 is grounded, the collector of the field effect transistor Q202 is connected to the steering motor assembly and the positive electrode of the diode D202; the negative electrode of the diode D202 is connected to the second terminal of the resistor R202; the second terminal of the resistor R203 is connected to the DISCH terminal of the oscillation delay chip U201; the negative electrode of the diode D203 is connected to the first terminal of the resistor R205; the second terminal of the resistor R205 is connected to the first terminal of the resistor R206, and the sliding terminal of the resistor R205 is connected to the TRIG terminal of the oscillation delay chip U201; the positive electrode of the capacitor D204 is connected to the first terminal of the resistor R204, and the second terminal of the resistor R204 is connected to the first terminal of the resistor R206 and the VCC terminal of the oscillation delay chip U201;

[0045] The positive electrode of diode D208 is connected to the steering limit switch, and the negative electrode of diode D208 is connected to the base of field effect transistor Q203; the emitter of field effect transistor Q203 is grounded, and the collector of field effect transistor Q203 is connected to the second end of resistor R206; the base of field effect transistor Q204 is connected to the collector of field effect transistor Q203, the collector of field effect transistor Q204 is connected to the steering motor assembly and to the positive electrode of diode D205, and the emitter of field effect transistor Q204 is grounded; the negative electrode of diode D205 is connected to the first end of resistor R207;

[0046] The VCC terminal and the RST terminal of the oscillation delay chip U202 are connected to the first end of resistor R201 and the first end of resistor R208, the DISCH terminal is connected to the positive electrode of diode D206 and the negative electrode of diode D207, the TRIG terminal and the THRES terminal are connected, the CONT terminal is connected to the first end of capacitor C202, the OUT terminal is connected to the second end of resistor R207, and the GND terminal is grounded; the second end of capacitor C202 is grounded; the first end of capacitor C203 is connected to the TRIG terminal of the oscillation delay chip U202, and the second end of capacitor C203 is grounded; the negative electrode of diode D206 is connected to the first end of resistor R210; the second end of resistor R210 is connected to the first end of resistor R209, and the sliding end of resistor R210 is connected to the TRIG terminal of the oscillation delay chip U201; the second end of resistor R09 is connected to the positive electrode of diode D207; the second end of resistor R208 is connected to the negative electrode of diode D207;

[0047] The emitters of field effect transistors Q205, Q210, Q211 and Q216 are all connected to the steering motor assembly; the collectors of field effect transistors Q205, Q206, Q207, Q208, Q209, Q210, Q211, Q212, Q213, Q214, Q215 and Q216 are connected to each other and grounded; the base of field effect transistor Q205 is connected to the first end of resistor R211 and the emitter of field effect transistor Q206; the base of field effect transistor Q206 is connected to the first end of resistor R212; the second end of resistor R212 is connected to the positive electrode of diode D209 and the emitter of field effect transistor Q207, and outputs the first rudder return signal; the base of field effect transistor Q207 is connected to the first end of resistor R213; the second end of R213 is connected to the positive electrode of diode D210 and the emitter of field effect transistor Q208, and outputs the second rudder return signal; the base of field effect transistor Q208 is connected to the first end of resistor R214, and the second end of resistor R214 is connected to the emitter of field effect transistor Q207; the base of field effect transistor Q209 is connected to the first end of resistor R215, and the second end of resistor R215 is connected to the emitter of field effect transistor Q208; the emitter of field effect transistor Q209 is connected to the first end of resistor R216 and the base of field effect transistor Q210; the second end of resistor R211 is connected to the positive electrode of capacitor C205, the negative electrode of diode D209, the negative electrode of diode D210 and the second end of resistor R216; the negative electrode of capacitor C205 is grounded;

[0048] The base of field effect transistor Q211 is connected to the first end of resistor R217 and the emitter of field effect transistor Q212; the base of field effect transistor Q212 is connected to the first end of resistor R218; the second end of resistor R218 is connected to the second end of resistor R220 and the positive electrode of diode D211; the emitter of field effect transistor Q213 outputs the third rudder signal, the base of field effect transistor Q213 is connected to the first end of resistor R219, and the second end of resistor R219 is connected to the positive electrode of diode D212 and the emitter of field effect transistor Q214; the base of field effect transistor Q214 is connected to the first end of resistor R220, and the emitter of field effect transistor Q214 outputs the fourth rudder signal; the base of field effect transistor Q215 is connected to the first end of resistor R221, and the second end of resistor R221 is connected to the emitter of field effect transistor Q214; the emitter of field effect transistor Q215 is connected to the first end of resistor R222 and the base of field effect transistor Q216; the second end of resistor R217 is connected to the positive electrode of capacitor C204, the negative electrode of diode D211, the negative electrode of diode D212, and the second end of resistor R222; the negative electrode of capacitor C204 is grounded.

[0049] In this embodiment, in order to protect the operation of the steering motor assembly within a set range, a steering limit switch is provided. When the steering motor assembly reaches the position detected by the steering limit switch during operation, the steering motor control circuit in this embodiment generates a rudder signal to facilitate the return of the steering motor assembly to its original position. As mentioned in the foregoing embodiment, the present invention designs two steering motor assemblies to achieve the purposes of turning the feeding vehicle to the left and to the right respectively, and then four states will occur, including turning left, returning to the center when turning left, turning right, and returning to the center when turning right. In these four motion states, if the steering limit switch detects a signal, the steering motor assembly responds according to the corresponding rudder signal.

[0050] Specifically, as Figure 9 shown, the main control mechanism further includes a radar detection circuit. The radar detection circuit includes single-chip microcomputer U301, single-chip microcomputer U302, resistor R301, resistor R302, resistor R303, resistor R304, and capacitor C301. Among them,

[0051] The positive input terminals of single-chip microcomputer U301 and single-chip microcomputer U302 are connected to the VCC12V voltage, and the negative input terminals of single-chip microcomputer U301 and single-chip microcomputer U302 are grounded;

[0052] The positive input terminal of single-chip microcomputer U301 is connected to the first end of resistor R304, the negative input terminal of single-chip microcomputer U301 is connected to the first end of resistor R303, and the output terminal of single-chip microcomputer U301 is connected to the second end of resistor R304;

[0053] The positive input terminal of the single-chip microcomputer U302 is connected to the first end and the sliding end of the resistor R302. The negative input terminal of the single-chip microcomputer U301 is connected to the sliding end of the resistor R301. The output terminal of the single-chip microcomputer U301 is connected to the first end of the resistor R304. The first end of the resistor R301 is grounded, and the second end of the resistor R301 is connected to the VCC12V voltage. The second end of the resistor R302 is connected to the radar module. The positive electrode of the capacitor C301 is connected to the positive input terminal of the single-chip microcomputer U302, and the negative electrode of the capacitor C301 is grounded.

[0054] The radar module is used to transmit and receive electromagnetic waves. The detected signal is used to determine whether there is an obstacle in the emission direction. The signal output by the radar detection circuit can be used for the first drive motor control circuit to control the first drive motor assembly, enabling the feeding vehicle to stop or reverse in time, and for the steering motor control circuit to control the steering motor assembly, enabling the feeding vehicle to turn, thereby changing the driving route and preventing collisions with obstacles.

[0055] In the embodiments of the present invention, no specific limitations are imposed on the electrical component models in the above first drive motor control circuit, feeding control circuit, steering motor control circuit, etc. Those skilled in the art can set them by themselves. At the same time, the periodic signal output by the oscillation delay chip is not limited in this embodiment, and those skilled in the art can set it according to the actual usage situation. The VCC12V, VCC24V, etc. in this embodiment are all powered by a power supply mechanism.

[0056] In this embodiment, the first drive motor control circuit, feeding control circuit, steering motor control circuit, etc. are all designed with small-sized electrical components. The conduction and cut-off of the circuit are achieved through field effect transistors or switches, and relays are not used to implement related functions. This not only reduces the size of the physical circuit board, facilitating installation, but also reduces the cost of this part of the product and the manufacturing cost of the feeder, making it more conducive to popularization and use.

[0057] Specifically, such as Figure 5As shown in the figure, the active walking assembly 12 includes a first roller 121, a second roller 122, a first connecting shaft 123, a first leaf spring 124, and a second leaf spring 125. The driven walking assembly 13 includes a third roller 131, a fourth roller 132, a second connecting shaft 133, a third leaf spring 134, and a fourth leaf spring 135. Among them, the first roller 121 and the second roller 122 are respectively installed at both ends of the first connecting shaft 123; the third roller 131 and the fourth roller 132 are respectively installed at both ends of the second connecting shaft 133; the first leaf spring 124 and the second leaf spring 125 are perpendicular to the first connecting shaft 123. The first leaf spring 124 is close to the first roller 121 and its middle position is rotatably connected to the first connecting shaft 123. The second leaf spring 125 is close to the second roller 122 and its middle position is rotatably connected to the first connecting shaft 123; both ends of the first leaf spring 124 are connected to the hopper mounting frame 11; both ends of the second leaf spring 125 are connected to the hopper mounting frame 11; the first drive motor assembly 14 is installed on the first connecting shaft 123; the third leaf spring 134 and the fourth leaf spring 135 are perpendicular to the second connecting shaft 133. The third leaf spring 134 is close to the third roller 131 and its middle position is rotatably connected to the second connecting shaft 133. The fourth leaf spring 135 is close to the fourth roller 132 and its middle position is rotatably connected to the second connecting shaft 133; both ends of the third leaf spring 134 are connected to the hopper mounting frame 11; both ends of the fourth leaf spring 135 are connected to the hopper mounting frame 11.

[0058] Preferably, each of the two steering motor assemblies in the embodiments of the present invention includes, in addition to the motor, a transmission structure, such as a push rod connected to the motor at one end. When the motor operates, it drives the push rod to move forward or backward in the radial direction of the second connecting shaft. The front ends of the push rods of the two steering motor assemblies are respectively connected to the third roller 131 and the fourth roller 132. Thus, the push rod drives the third roller 131 and the fourth roller 132 to adjust their directions under the drive of the motor, and then the entire feeder realizes a steering drive under the action of the first drive motor assembly 14. In this embodiment, the steering motor assembly can also be realized by the structure of a cylinder and a push rod, and specific limitations are not made in this embodiment. Here, in order to realize the rotation of the third roller 131 and the fourth roller 132 relative to the second connecting shaft, a rod end spherical bearing is used in this embodiment to connect the three.

[0059] Specifically, as Figure 2 and Figure 3As shown in the figure, the first conveying assembly 33 includes a first sprocket set and a second sprocket set which are oppositely arranged, a first transmission shaft 332, a second transmission shaft 333, and a plurality of scrapers 35 which are arranged in parallel and have both ends mounted on the first sprocket set and the second sprocket set. The first sprocket set is installed close to the first support plate 31, and the second sprocket set is installed close to the second support plate 32. The first transmission shaft 332 and the second transmission shaft 333 are arranged in parallel, and both ends are rotatably connected to the first support plate 31 and the second support plate 32. The first conveying motor assembly 331 is in transmission connection with the second transmission shaft 333, wherein,

[0060] The first sprocket set includes a first sprocket 334, a second sprocket 335, a third sprocket 336, a fourth sprocket 337, a first chain 338, and a second chain 339; the first sprocket 334 and the second sprocket 335 are connected by the first chain 338, and the third sprocket 336 and the fourth sprocket 337 are connected by the second chain 339; the first sprocket and the third sprocket are directly opposite in position, and both ends of the first transmission shaft are fixedly connected to the first sprocket and the third sprocket; the second sprocket and the fourth sprocket are directly opposite in position, and both ends of the second transmission shaft are fixedly connected to the second sprocket and the fourth sprocket.

[0061] Specifically, as Figure 2 and Figure 3 shown in the figure, the second conveying assembly 34 includes a third sprocket set and a fourth sprocket set which are oppositely arranged, a third transmission shaft 342, a fourth transmission shaft 343, and a plurality of scrapers 35 which are arranged in parallel and have both ends mounted on the third sprocket set and the fourth sprocket set. The third sprocket set is installed close to the first support plate 31, and the fourth sprocket set is installed close to the second support plate 32. The third transmission shaft 342 and the fourth transmission shaft 343 are arranged in parallel, and both ends are rotatably connected to the first support plate 31 and the second support plate 32. The second conveying motor assembly is in transmission connection with the third transmission shaft, wherein,

[0062] The third sprocket set includes a fifth sprocket 344, a sixth sprocket 345, a seventh sprocket 346, an eighth sprocket 347, a third chain 348, and a fourth chain 349; the fifth sprocket 344 and the sixth sprocket 345 are connected by the third chain 348, and the seventh sprocket 346 and the eighth sprocket 347 are connected by the fourth chain 349; the fifth sprocket 344 and the seventh sprocket 346 are directly opposite in position, and both ends of the third transmission shaft 342 are fixedly connected to the fifth sprocket 344 and the seventh sprocket 346; the sixth sprocket 345 and the eighth sprocket 347 are directly opposite in position, and both ends of the fourth transmission shaft 343 are fixedly connected to the sixth sprocket 345 and the eighth sprocket 347.

[0063] The automatic tracing feeding vehicle according to the embodiment of the present invention realizes automatic feeding through the forage conveying mechanism, the blanking mechanism and the feeding control circuit. The blanking opening is arranged between the first conveying component and the second conveying component, which can reduce the conveying distance of the forage in the hopper, thereby saving electric energy. The walking support mechanism and the first driving motor control circuit can directly realize the automatic walking of the feeding vehicle according to the preset time and path. The automatic tracing feeding vehicle according to the embodiment of the present invention realizes timed and fixed-point feeding, has a very high degree of automation, and the overall structure of the vehicle body is reasonably designed and compact. It is suitable for the on-site feed delivery in small-scale farms, saves manpower and material resources, and has very high popularization value.

[0064] The above further describes the present invention with the aid of specific embodiments. However, it should be understood that the specific description here should not be construed as a limitation on the essence and scope of the present invention. Various modifications made by those of ordinary skill in the art to the above embodiments after reading this specification all fall within the scope protected by the present invention.

Claims

1. An automatic trace-following feeding vehicle, characterized in that Comprising: A walking support mechanism, a hopper located on the walking support mechanism and having a discharge port at the bottom, a forage conveying mechanism installed at the bottom of the hopper and beside the discharge port, a blanking mechanism installed below the discharge port, and a main control mechanism and a power supply mechanism both electrically connected to the walking support mechanism, the forage conveying mechanism, and the blanking mechanism, wherein, The walking support mechanism includes a hopper mounting frame, a driving walking assembly and a driven walking assembly installed below the hopper mounting frame. The driving walking assembly and the driven walking assembly are arranged in parallel. A first driving motor assembly and a steering motor assembly are installed on the driving walking assembly; The forage conveying mechanism includes a first support plate and a second support plate arranged oppositely, and a first conveying assembly and a second conveying assembly installed between the first support plate and the second support plate. The first conveying assembly and the second conveying assembly are respectively installed on the left side and the right side of the discharge port; The first conveying assembly is drivingly connected to a first conveying motor assembly, and the second conveying assembly is drivingly connected to a second conveying motor assembly; The blanking mechanism includes a conveying motor assembly and a conveyor belt assembly, and the conveying direction of the conveyor belt assembly is perpendicular to the conveying direction of the first conveying assembly; The main control mechanism includes a first driving motor control circuit, a feeding control circuit, and a steering motor control circuit; The first driving motor control circuit is connected to the first driving motor assembly; The feeding control circuit is connected to the first conveying motor assembly, the second conveying motor assembly, and the conveying motor assembly; The steering motor control circuit is connected to the steering motor assembly; The power supply mechanism is connected to the first driving motor control circuit, the feeding control circuit, and the steering motor control circuit; The first driving motor control circuit includes a control chip U01, resistors R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12, field effect transistors Q1, Q2, Q3, Q4, Q5, Q6, diodes D1, and D2, wherein, The VCC+ terminal of the control chip U01 is connected to a VCC12V voltage, the VCC- terminal is grounded, the IN+ terminal, IN2+ terminal, IN3+ terminal, IN4+ terminal are connected to a current detection terminal, the IN1- terminal is connected to the sliding terminal of the resistor R2, the IN2- terminal is connected to the sliding terminal of the resistor R3, the IN3- terminal is connected to the sliding terminal of the resistor R4, the IN4- terminal is connected to the sliding terminal of the resistor R1, the OUT1 terminal is connected to the positive electrode of the diode D1, the OUT2 terminal is connected to the positive electrode of the diode D2, and the OUT1 terminal is connected to the first end of the resistor R5; The second end of the resistor R5 is connected to the base of the field effect transistor Q1; The emitter of the field effect transistor Q1 is grounded, and the collector of the field effect transistor Q1 is connected to the first end of the resistor R6; The second end of the resistor R6 is connected to the first driving motor assembly; The first ends of the resistors R1, R2, R3, and R4 are all connected to the VCC 12V voltage, and the second ends of the resistors R1, R2, R3, and R4 are all grounded; The negative electrode of the diode D1 is connected to the first end of the resistor R10, the second end of the resistor R10 is connected to the base of the field effect transistor Q4, the emitter of the field effect transistor Q4 is grounded, and the collector of the field effect transistor Q4 is connected to the first end of the resistor R12; The negative electrode of the diode D2 is connected to the first end of the resistor R11, the second end of the resistor R11 is connected to the base of the field effect transistor Q5, the collector of the field effect transistor Q5 is connected to the base of the field effect transistor Q6, and the emitter of the field effect transistor Q5 is grounded; The second end of the resistor R12 is connected to the base of the field effect transistor Q6, the collector of the field effect transistor Q6 receives the brake signal, and the emitter of the field effect transistor Q6 is grounded; The first end of the resistor R8 is connected to the VCC 12V voltage, and the second end of the resistor R8 is connected to the first end of the resistor R9 and the collector of the field effect transistor Q4; The second end of the resistor R9 is connected to the base of the field effect transistor Q2; The emitter of the field effect transistor Q2 is grounded, and the collector of the field effect transistor Q2 is connected to the base of the field effect transistor Q3; The emitter of the field effect transistor Q3 is grounded, and the emitter of the field effect transistor Q3 receives the brake signal; The first end of the resistor R7 is connected to the VCC 12V voltage, and the second end of the resistor R7 is connected to the base of the field effect transistor Q3; The main control mechanism further includes a radar detection circuit, and the radar detection circuit includes a single-chip microcomputer U301, a single-chip microcomputer U302, resistors R301, R302, R303, R304, and a capacitor C301, where The positive input terminals of the single-chip microcomputer U301 and the single-chip microcomputer U302 are connected to the VCC 12V voltage, and the negative input terminals of the single-chip microcomputer U301 and the single-chip microcomputer U302 are grounded; The positive input terminal of the single-chip microcomputer U301 is connected to the first end of the resistor R304, the negative input terminal of the single-chip microcomputer U301 is connected to the first end of the resistor R303, and the output terminal of the single-chip microcomputer U301 is connected to the second end of the resistor R304; The positive input terminal of the single-chip microcomputer U302 is connected to the first end and the sliding end of the resistor R302, the negative input terminal of the single-chip microcomputer U301 is connected to the sliding end of the resistor R301, and the output terminal of the single-chip microcomputer U301 is connected to the first end of the resistor R304; The first end of the resistor R301 is grounded, and the second end of the resistor R301 is connected to the VCC 12V voltage; The second end of the resistor R302 is connected to the radar module; The positive electrode of the capacitor C301 is connected to the positive input terminal of the single-chip microcomputer U302, and the negative electrode of the capacitor C301 is grounded; The signal output by the radar detection circuit is used by the first drive motor control circuit to control the first drive motor assembly so that the feeding vehicle can stop or reverse in time, and is used by the steering motor control circuit to control the steering motor assembly so that the feeding vehicle can turn, thereby changing the driving route and preventing collision with obstacles.

2. The automatic tracking feeding vehicle according to claim 1, wherein It also includes a distance detection mechanism, which includes a support frame, a lifting belt, a lifting motor assembly, a proximity switch and a switch mounting frame, wherein, The support frame is installed below the hopper mounting frame; The lifting belt is vertically arranged on the support frame and is transmission-connected to the lifting motor assembly; The proximity switch is mounted on the switch mounting frame, and the switch mounting frame is mounted on the lifting belt; The proximity switch is electrically connected to the first drive motor control circuit.

3. The automatic tracing feeding vehicle according to claim 2, wherein, The power supply mechanism includes a power supply battery, a voltage conversion module and a current detection module, wherein: The power supply battery is electrically connected to the first drive motor assembly, the steering motor assembly, the first conveying motor assembly, the second conveying motor assembly, the transmission motor assembly, the lifting motor assembly, the proximity switch, the first drive motor control circuit, the feeding control circuit and the steering motor control circuit through the voltage conversion module; The input end of the current detection module is connected to the power supply battery, and the output end is electrically connected to the first drive motor control circuit; the first drive motor control circuit determines the power of the power supply battery according to the output value of the current detection module, and the automatic tracking feeding vehicle stops feeding when the power is too low and returns to the starting point to charge before feeding again.

4. The automatic tracing feeding vehicle according to claim 3, wherein The feeding control circuit includes an oscillation delay chip U02, an oscillation delay chip U03, an oscillation delay chip U04, a resistor R13, a resistor R14, a resistor R15, a resistor R16, a resistor R17, a resistor R18, a resistor R19, a resistor R20, a resistor R21, a resistor R22, a resistor R23, a resistor R24, a resistor R25, a resistor R26, a resistor R27, a diode D3, a diode D4, a diode D5, a diode D6, a diode D7, a diode D8, a field effect transistor Q7, a field effect transistor Q8, a field effect transistor Q9, a field effect transistor Q10, a field effect transistor Q11, a field effect transistor Q12, a field effect transistor Q13, a field effect transistor Q14, a field effect transistor Q15, a field effect transistor Q16, a field effect transistor Q17, a capacitor C1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C5, a capacitor C6, a capacitor C7, and a capacitor C8, wherein: The VCC terminal and RST terminal of the oscillation delay chip U02 are connected to the VCC12V voltage. The DISCH terminal is connected to the first terminal of the capacitor C2. The TRIG terminal and THRES terminal are connected. The CONT terminal is connected to the first terminal of the capacitor C1. The OUT terminal is connected to the first terminal of the resistor R15. The GND terminal is grounded. The second terminal of the capacitor C1 is grounded. The second terminal of the capacitor C2 is connected to the VCC12V voltage. The second terminal of the resistor R15 is connected to the base of the field effect transistor Q7. The collector of the field effect transistor Q7 is grounded. The emitter of the field effect transistor Q7 is connected to the first terminal of the resistor R16. The second terminal of the resistor R16 is connected to the base of the field effect transistor Q8. The collector of the field effect transistor Q8 is connected to the VCC24V voltage. The emitter of the field effect transistor Q8 is connected to the first conveyor motor assembly and the second conveyor motor assembly. The first terminal of the resistor R14 is connected to the VCC12V voltage. The second terminal of the resistor R14 is connected to the TRIG terminal of the oscillation delay chip U02; The first terminal of the resistor R13 is connected to the TRIG terminal of the oscillation delay chip U02. The second terminal of the resistor R13 is connected to the cathodes of the diodes D3 and D4. The anode of the diode D4 is connected to the discharge switch. The anode of the diode D3 is connected to the cathode of the diode D7. The anode of the diode D7 is connected to the first terminal of the resistor R26. The second terminal of the resistor R26 is connected to the base of the field effect transistor Q16. The collector of the field effect transistor Q16 is connected to the VCC12V voltage. The emitter of the field effect transistor Q16 is connected to the first terminal of the resistor R25. The second terminal of the resistor R25 is grounded. The collector of the field effect transistor Q15 is connected to the VCC12V voltage. The base of the field effect transistor Q15 is connected to the first terminal of the resistor R25. The emitter of the field effect transistor Q15 is connected to the TRIG terminal of the oscillation delay chip U04; The VCC terminal and the RST terminal of the oscillation delay chip U03 are connected to the emitter of the field effect transistor Q10. The DISCH terminal is connected to the first end of the capacitor C3. The TRIG terminal and the THRES terminal are connected. The CONT terminal is connected to the first end of the capacitor C4. The OUT terminal is connected to the first end of the resistor R21. The GND terminal is grounded. The second end of the capacitor C3 is connected to the VCC terminal of the oscillation delay chip U03. The second end of the capacitor C4 is grounded. The second end of the resistor R21 is connected to the base of the field effect transistor Q12. The emitter and the collector of the field effect transistor Q12 are both grounded. The first end of the capacitor C5 is connected to the TRIG terminal of the oscillation delay chip U03. The second end of the capacitor C5 is grounded. The base of the field effect transistor Q10 is connected to the first end of the resistor R18 and the emitter of the field effect transistor Q11. The collector of the field effect transistor Q10 is connected to the VCC12V voltage. The collector of the field effect transistor Q11 is connected to the VCC12V voltage. The base of the field effect transistor Q11 is connected to the first end of the resistor R17. The second end of the resistor R18 is grounded. The second end of the resistor R17 is connected to the positive electrode of the diode D5. The negative electrode of the diode D5 is connected to the discharging switch. The VCC terminal and the RST terminal of the oscillation delay chip U04 are connected to the VCC12V voltage. The DISCH terminal is connected to the first end of the capacitor C8. The TRIG terminal and the THRES terminal are connected. The CONT terminal is connected to the first end of the capacitor C6. The OUT terminal is connected to the first end of the resistor R22 and the first end of the resistor R23. The GND terminal is grounded. The second end of the capacitor C8 is connected to the VCC12V voltage. The second end of the capacitor C6 is grounded. The second end of the resistor R22 is connected to the base of the field effect transistor Q14. The collector and the emitter of the field effect transistor Q14 are both grounded. The second end of the resistor R23 is connected to the base of the field effect transistor Q13. The collector of the field effect transistor Q13 is grounded. The emitter of the field effect transistor Q13 is connected to the negative electrode of the diode D6. The positive electrode of the diode D6 is connected to the first end of the resistor R19. The second end of the resistor R19 is connected to the base of the field effect transistor Q9. The collector of the field effect transistor Q9 is connected to the VCC12V voltage. The emitter of the field effect transistor Q9 is connected to the second end of the resistor R20 and the sliding end. The first end of the resistor R20 is connected to the emitter of the field effect transistor Q10. The first end of the resistor R^ is grounded. The second end of the resistor R24 is connected to the sliding end and is connected to the TRIG terminal of the oscillation delay chip U04. The positive electrode of the capacitor C7 is connected to the VCC12V voltage. The negative electrode of the capacitor C7 is connected to the TRIG terminal of the oscillation delay chip U04. The collector of the field effect transistor Q17 is connected to the VCC 24V voltage. The base of the field effect transistor Q17 is connected to the first end of the resistor R27. The emitter of the field effect transistor Q17 is connected to the transfer motor assembly. The second end of the resistor R27 is connected to the positive electrode of the diode D8. The negative electrode of the diode D8 is connected to the discharge switch.

5. The automatic tracking feeding vehicle according to claim 4, wherein, The steering motor control circuit includes an oscillation delay chip U201, an oscillation delay chip U202, field effect transistors Q201, Q202, Q203, Q204, Q205, Q206, Q207, Q208, Q209, Q210, Q211, Q212, Q213, Q214, Q215, Q216, resistors R201, R202, R203, R204, R205, R206, R207, R208, R209, R210, R211, R212, R213, R214, R215, R216, R217, R218, R219, R220, R221, R222, capacitors C201, C202, C203, C204, C205 and C206. Among them, The VCC terminal and RST terminal of the oscillation delay chip U201 are connected to the first terminal of the resistor R201 and the first terminal of the resistor R203. The DISCH terminal is connected to the positive electrode of the diode D203 and the negative electrode of the diode D204. The TRIG terminal and the THRES terminal are connected. The CONT terminal is connected to the first terminal of the capacitor C206. The OUT terminal is connected to the first terminal of the resistor R202. The GND terminal is grounded; the second terminal of the capacitor C206 is grounded; the first terminal of the capacitor C201 is connected to the TRIG terminal of the oscillation delay chip U201, and the second terminal of the capacitor C201 is grounded; the second terminal of the resistor R201 is connected to the collector of the field effect transistor Q201; the emitter of the field effect transistor Q201 is grounded, and the base of the field effect transistor Q201 is connected to the negative electrode of the diode D201; the positive electrode of the diode D201 is connected to the steering limit switch; the base of the field effect transistor Q202 is connected to the collector of the field effect transistor Q201, the emitter of the field effect transistor Q202 is grounded, the collector of the field effect transistor Q202 is connected to the steering motor assembly and the positive electrode of the diode D202; the negative electrode of the diode D202 is connected to the second terminal of the resistor R202; the second terminal of the resistor R203 is connected to the DISCH terminal of the oscillation delay chip U201; the negative electrode of the diode D203 is connected to the first terminal of the resistor R205; the second terminal of the resistor R205 is connected to the first terminal of the resistor R206, and the sliding terminal of the resistor R205 is connected to the TRIG terminal of the oscillation delay chip U201; the positive electrode of the capacitor D204 is connected to the first terminal of the resistor R204, and the second terminal of the resistor R204 is connected to the first terminal of the resistor R206 and the VCC terminal of the oscillation delay chip U201; The positive electrode of the diode D208 is connected to the steering limit switch, and the negative electrode of the diode D208 is connected to the base of the field effect transistor Q203; the emitter of the field effect transistor Q203 is grounded, and the collector of the field effect transistor Q203 is connected to the second terminal of the resistor R206; the base of the field effect transistor Q204 is connected to the collector of the field effect transistor Q203, the collector of the field effect transistor Q204 is connected to the steering motor assembly and the positive electrode of the diode D205, and the emitter of the field effect transistor Q204 is grounded; the negative electrode of the diode D205 is connected to the first terminal of the resistor R207; The VCC terminal and RST terminal of the oscillation delay chip U202 are connected to the first terminal of the resistor R201 and the first terminal of the resistor R208. The DISCH terminal is connected to the positive electrode of the diode D206 and the negative electrode of the diode D207. The TRIG terminal and the THRES terminal are connected. The CONT terminal is connected to the first terminal of the capacitor C202. The OUT terminal is connected to the second terminal of the resistor R207. The GND terminal is grounded; the second terminal of the capacitor C202 is grounded; the first terminal of the capacitor C203 is connected to the TRIG terminal of the oscillation delay chip U202, and the second terminal of the capacitor C203 is grounded; the negative electrode of the diode D206 is connected to the first terminal of the resistor R2010; the second terminal of the resistor R210 is connected to the first terminal of the resistor R209, and the sliding terminal of the resistor R210 is connected to the TRIG terminal of the oscillation delay chip U201; the second terminal of the resistor R09 is connected to the positive electrode of the diode D207; the second terminal of the resistor R208 is connected to the negative electrode of the diode D207; The emitters of the field effect transistor Q205, the field effect transistor Q210, the field effect transistor Q211, and the field effect transistor Q216 are all connected to the steering motor assembly; the collectors of the field effect transistor Q205, the field effect transistor Q206, the field effect transistor Q207, the field effect transistor Q208, the field effect transistor Q209, the field effect transistor Q210, the field effect transistor Q211, the field effect transistor Q212, the field effect transistor Q213, the field effect transistor Q214, the field effect transistor Q215, and the field effect transistor Q216 are connected to each other and grounded; the base of the field effect transistor Q205 is connected to the first end of the resistor R211 and the emitter of the field effect transistor Q206; the base of the field effect transistor Q206 is connected to the first end of the resistor R212; the second end of the resistor R212 is connected to the positive electrode of the diode D209 and the emitter of the field effect transistor Q207, and outputs the first rudder return signal; the base of the field effect transistor Q207 is connected to the first end of the resistor R213; the second end of the R213 is connected to the positive electrode of the diode D210 and the emitter of the field effect transistor Q208, and outputs the second rudder return signal; the base of the field effect transistor Q208 is connected to the first end of the resistor R214, and the second end of the resistor R214 is connected to the emitter of the field effect transistor Q207; the base of the field effect transistor Q209 is connected to the first end of the resistor R215, and the second end of the resistor R215 is connected to the emitter of the field effect transistor Q208; the emitter of the field effect transistor Q209 is connected to the first end of the resistor R216 and the base of the field effect transistor Q210; the second end of the resistor R211 is connected to the positive electrode of the capacitor C205, the negative electrode of the diode D209, the negative electrode of the diode D210, and the second end of the resistor R216; the negative electrode of the capacitor C205 is grounded; The base of the field effect transistor Q211 is connected to the first end of the resistor R217 and the emitter of the field effect transistor Q212; the base of the field effect transistor Q212 is connected to the first end of the resistor R218; the second end of the resistor R218 is connected to the second end of the resistor R220 and the positive electrode of the diode D211; the emitter of the field effect transistor Q213 outputs a third steering signal, the base of the field effect transistor Q213 is connected to the first end of the resistor R219, and the second end of the resistor R219 is connected to the positive electrode of the diode D212 and the emitter of the field effect transistor Q214; the base of the field effect transistor Q214 is connected to the first end of the resistor R220, and the emitter of the field effect transistor Q214 outputs a fourth steering signal; the base of the field effect transistor Q215 is connected to the first end of the resistor R221, and the second end of the resistor R221 is connected to the emitter of the field effect transistor Q214; the emitter of the field effect transistor Q215 is connected to the first end of the resistor R222 and the base of the field effect transistor Q216; the second end of the resistor R217 is connected to the positive electrode of the capacitor C204, the negative electrode of the diode D211, the negative electrode of the diode D212, and the second end of the resistor R222; the negative electrode of the capacitor C204 is grounded.

6. The automatic tracking feeding vehicle according to claim 5, characterized in that, The active walking assembly includes a first roller, a second roller, a first connecting shaft, a first leaf spring, and a second leaf spring. The driven walking assembly includes a third roller, a fourth roller, a second connecting shaft, a third leaf spring, and a fourth leaf spring. Among them, The first roller and the second roller are respectively installed at both ends of the first connecting shaft; the third roller and the fourth roller are respectively installed at both ends of the second connecting shaft; The first leaf spring and the second leaf spring are arranged perpendicular to the first connecting shaft. The first leaf spring is close to the first roller and its middle position is rotatably connected to the first connecting shaft. The second leaf spring is close to the second roller and its middle position is rotatably connected to the first connecting shaft; both ends of the first leaf spring are connected to the hopper mounting frame; both ends of the second leaf spring are connected to the hopper mounting frame; the first drive motor assembly is installed on the first connecting shaft; The third leaf spring and the fourth leaf spring are arranged perpendicular to the second connecting shaft. The third leaf spring is close to the third roller and its middle position is rotatably connected to the second connecting shaft. The fourth leaf spring is close to the fourth roller and its middle position is rotatably connected to the second connecting shaft; both ends of the third leaf spring are connected to the hopper mounting frame; both ends of the fourth leaf spring are connected to the hopper mounting frame.

7. The automatic tracing feeding vehicle according to claim 6, wherein, The first conveying component includes a first sprocket set and a second sprocket set which are oppositely arranged, a first transmission shaft, a second transmission shaft, and a plurality of scrapers which are arranged in parallel and have both ends mounted on the first sprocket set and the second sprocket set. The first sprocket set is installed close to the first support plate, the second sprocket set is installed close to the second support plate, the first transmission shaft and the second transmission shaft are arranged in parallel, and both ends thereof are rotatably connected to the first support plate and the second support plate. The first conveying motor assembly is in transmission connection with the second transmission shaft, wherein, The first sprocket set includes a first sprocket, a second sprocket, a third sprocket, a fourth sprocket, a first chain, and a second chain; the first sprocket and the second sprocket are connected by the first chain, and the third sprocket and the fourth sprocket are connected by the second chain; the first sprocket and the third sprocket are directly opposite in position, and both ends of the first transmission shaft are fixedly connected to the first sprocket and the third sprocket; the second sprocket and the fourth sprocket are directly opposite in position, and both ends of the second transmission shaft are fixedly connected to the second sprocket and the fourth sprocket.

8. The automatic tracking feeding vehicle according to claim 6, characterized in that, The second conveying component includes a third sprocket set and a fourth sprocket set which are oppositely arranged, a third transmission shaft, a fourth transmission shaft, and a plurality of scrapers which are arranged in parallel and have both ends mounted on the third sprocket set and the fourth sprocket set. The third sprocket set is installed close to the first support plate, the fourth sprocket set is installed close to the second support plate, the third transmission shaft and the fourth transmission shaft are arranged in parallel, and both ends thereof are rotatably connected to the first support plate and the second support plate. The second conveying motor assembly is in transmission connection with the third transmission shaft, wherein, The third sprocket set includes a fifth sprocket, a sixth sprocket, a seventh sprocket, an eighth sprocket, a third chain, and a fourth chain; the fifth sprocket and the sixth sprocket are connected by the third chain, and the seventh sprocket and the eighth sprocket are connected by the fourth chain; the fifth sprocket and the seventh sprocket are directly opposite in position, and both ends of the third transmission shaft are fixedly connected to the fifth sprocket and the seventh sprocket; the sixth sprocket and the eighth sprocket are directly opposite in position, and both ends of the fourth transmission shaft are fixedly connected to the sixth sprocket and the eighth sprocket.

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