A feed feeding robot with adjustable shooting range

Abstract

The present application provides a feed feeding robot with adjustable range, comprising: a range adjustment device for adjusting the range gear of the feed feeding device; a feeding control device for controlling the start and stop of the feed projection work of the feed feeding device; a feeding device for outputting feed for the feeding device to project; and a feed feeding device for projecting the feed output by the feeding device according to the adjusted range gear. Based on the range adjustment device, the present application enables the projection travel distance of the feed feeding device to have more gears to choose from, improves the fineness of range selection, enables the feed feeding device to project the feed at different travel distances, has better interestingness, and makes it difficult for pets to predict the feed projection travel, so as to keep them fresh, and enhances the attraction of the feed feeding robot to pets.

Description

Technical Field

[0001] This application relates to the field of pet feeding robots, and particularly to a feed feeding robot with adjustable range. Background Art

[0002] With the improvement of people's living standards, the number of people raising pets is increasing day by day. During the process of raising pets, due to the busy life of the owner and the lack of sufficient time to accompany the pet, the pet is prone to loneliness and low mood. Based on this, pet companion robots have emerged, solving the problem that the owner cannot interact with the pet for a long time. At present, the main ways for pet companion robots to interact with pets are: feed projection, launching ball toys, etc. At present, the feed projection structure and ball toy launching structure of pet companion robots are generally fixed-range structures, with a fixed projection stroke and poor interaction effect with pets. Summary of the Invention

[0003] This application provides a feed feeding robot with adjustable range, and the specific technical solution is as follows:

[0004] A feed feeding robot with adjustable range includes at least: a range adjustment device, a feeding control device, a feeding device, and a feed feeding device; wherein, the range adjustment device is used to adjust the range gear of the feed feeding device; the feeding control device is used to control the start and stop of the feed projection work of the feed feeding device; the feeding device is used to output feed for the feeding device to project; the feed feeding device has multiple range gears and is used to project the feed output by the feeding device according to the adjusted range gear.

[0005] Further, the feed feeding device includes: an ejection rod and an energy storage spring; one end of the ejection rod abuts against the energy storage spring, and the ejection rod obtains the kinetic energy for ejecting feed based on the energy storage of the compressed energy storage spring; the feed feeding device includes M range gears, N - 1 order meshing teeth are arranged on the ejection rod, and the range adjustment device adjusts the range gear of the feed feeding device by adjusting its meshing state with the meshing teeth; M gear hooks are also arranged on the ejection rod, and the feeding excitation device controls the start and stop of the feed projection work of the feed feeding device by adjusting its meshing state with the gear hooks; wherein, M is an integer greater than or equal to N, and N is an integer greater than or equal to 2.

[0006] Further, the range adjustment device includes: a range driving motor and a range driving gear with N order driving teeth; wherein, the range driving motor is electrically connected to the range driving gear, and the range adjustment device adjusts the range gear of the feed feeding device by adjusting the order of the driving teeth meshing with the meshing teeth on the ejection rod.

[0007] Further, the diameter of the N - 1 - order meshing teeth decreases step by step as the order increases, the diameters of the driving teeth from the 1st - order driving tooth to the (N - 1)th - order driving tooth increase step by step as the order increases, and the diameter of the Nth - order driving tooth is greater than or equal to the diameter of the (N - 1)th - order driving tooth.

[0008] Further, the feed feeding robot further comprises: a feeding excitation device, configured to, based on the drive of the range adjustment device, excite the feeding control device to control the feed projection operation of the feed feeding device.

[0009] Further, the feeding excitation device comprises: a first excitation tooth and a second excitation tooth; wherein, the first excitation tooth is driven to rotate by the Nth - order driving tooth of the range driving gear, the rotation of the first excitation tooth drives the second excitation tooth to rotate, and the second excitation tooth is configured to excite the feeding control device to control the feed projection operation of the feed feeding device.

[0010] Further, the feeding control device comprises: a limiting mechanism and a gear - position spring, the bottom of the limiting mechanism abuts against the gear - position spring; wherein, the feeding control device controls the opening and stopping of the feed projection operation of the feed feeding device by controlling the meshing of the limiting mechanism and the gear - position catch, and the second excitation tooth controls the expansion and contraction amount of the gear - position spring by rotating to control the meshing situation of the limiting mechanism and the gear - position catch.

[0011] Further, an opening is provided at the bottom of the limiting mechanism, and a part of the gear - position spring is sleeved inside the opening at the bottom of the limiting mechanism.

[0012] Further, the limiting mechanism comprises: a first limiting buckle and a second limiting buckle; wherein, the first limiting buckle is used for meshing with the gear - position catch; the second limiting buckle is used for being driven by the second excitation tooth to adjust the expansion and contraction amount of the gear - position spring to control the meshing of the first limiting buckle and the gear - position catch.

[0013] Further, the feeding control device further comprises: a limiting baffle, configured to limit the moving direction of the limiting mechanism when it moves with the compression of the gear - position spring.

[0014] Further, the feed feeding robot further comprises: a detection switch, configured to detect the working state of the feed projection of the feed feeding device; the limiting mechanism further comprises: a third limiting buckle, configured to trigger the detection switch when the first limiting buckle is disengaged from the gear - position catch.

[0015] Further, the feed feeding device further comprises: a feed feeding channel, an inlet is provided on the feed feeding channel for receiving the feed output by the feeding device; an ejection rod is arranged at one end of the feed feeding channel to project the feed received at the inlet.

[0016] Further, the feeding device includes: a fence, a transmission turntable, a base, and a feeding drive assembly; the fence is detachably connected to the base to form a feed storage bin, a material dropping opening is provided on the base, the material dropping opening of the base is docked with the feed inlet of the feed feeding device, at least one feed storage hole is provided on the transmission turntable, and the feed storage hole is used to define the amount of feed falling into the material dropping opening on the transmission turntable; the feeding drive assembly is used to drive the transmission turntable to rotate. When the feed storage hole of the transmission turntable is docked with the material dropping opening, the feed contained in the feed storage hole falls into the feed inlet of the feed feeding device through the material dropping opening.

[0017] Further, the base is provided with a convex cylinder, the transmission turntable is provided with a first opening, the transmission turntable is sleeved on the convex cylinder of the base through the first opening, the fence is provided with a fan-shaped blocking portion, a first hollow portion and a second hollow portion are arranged inside the fan-shaped blocking portion, the fence is sleeved on the convex cylinder of the base through the first hollow portion, and the second hollow portion of the fan-shaped blocking portion is located directly above the material dropping opening of the base; wherein, the transmission turntable is rotatably arranged between the fence and the base.

[0018] Further, a blocking assembly is arranged on the side surface of the second hollow portion to block the remaining feed other than the feed contained in the feed storage hole of the transmission turntable from entering the second hollow portion of the fan-shaped blocking portion, and to control the amount of feed provided by the transmission turntable each time; wherein, the blocking assembly at least includes: a torsion spring, a blocking plate, a door shaft, and a door shaft mounting portion; the torsion spring and the blocking plate are sleeved on the door shaft, and the door shaft is assembled on the door shaft mounting portion.

[0019] Further, the feeding drive assembly includes a feeding drive gear and a feeding drive motor, and the feeding drive gear is electrically connected to the feeding drive motor; the transmission turntable is a gear-shaped turntable, a second opening is provided on the side surface of the base, and a part of the gear of the transmission turntable is exposed outside the base through the second opening, so that the feeding drive gear meshes with the part of the gear of the transmission turntable exposed outside the base, and the feeding drive gear drives the transmission turntable to rotate based on the power provided by the feeding drive motor.

[0020] Further, the feed feeding robot further includes: a position detection device, which is used to detect the relative position information between the feed storage hole of the transmission turntable and the material dropping opening and transmit it to the feeding drive assembly, so that the feeding drive assembly can accurately drive the feed storage hole of the transmission turntable to be docked with the material dropping opening; wherein, the position detection device includes: a magnet and a Hall sensor, the magnet is arranged at the bottom of the transmission turntable, and the Hall sensor determines the relative position information between the feed storage hole of the transmission turntable and the material dropping opening by detecting the magnet at the bottom of the transmission turntable.

[0021] The feed feeding robot with adjustable range described in this application enables the projection travel distance of the feed feeding device to have more gear selection based on the range adjustment device, and there is no need for manual adjustment by the user, which improves the intelligent degree of feed feeding of the robot. By increasing the fineness of range selection, the feed feeding device projects the feed at different travel distances, with better interestingness. It is difficult for pets to predict the feed projection travel, so they can maintain a sense of freshness, and the attractiveness of the feed feeding robot to pets is enhanced. At the same time, a feeding control device and a range adjustment device are set, so that the range gear switching and feed launching of the feed feeding robot are independently controlled. Brief Description of the Drawings

[0022] Figure 1 It is a schematic structural diagram of the feed feeding robot according to an embodiment of this application.

[0023] Figure 2 It is a schematic structural diagram of the device related to the feed projection work according to an embodiment of this application.

[0024] Figure 3 It is a schematic structural diagram of the ejection rod according to an embodiment of this application.

[0025] Figure 4 It is a schematic structural diagram of the range driving gear according to an embodiment of this application.

[0026] Figure 5 It is a schematic structural diagram of the limiting mechanism according to an embodiment of this application.

[0027] Figure 6 It is a structural sectional view of the feed feeding device in the firing state according to an embodiment of this application.

[0028] Figure 7 It is a structural sectional view of the feed feeding device in the energy storage state according to an embodiment of this application.

[0029] Figure 8 It is a structural sectional view of the feed feeding device in the loaded state according to an embodiment of this application.

[0030] Figure 9 It is a schematic structural diagram of the feeding device according to an embodiment of this application.

[0031] Figure 10 It is a schematic structural diagram of the base and the transmission turntable according to an embodiment of this application.

[0032] Figure 11 It is a schematic structural diagram of the feeding drive assembly and the position detection device according to an embodiment of this application.

[0033] Figure 12 It is a bottom view of the transmission turntable according to an embodiment of this application.

[0034] Figure 13 This is a schematic structural diagram of a blocking component according to an embodiment of the present application.

[0035] Numerical interpretations in the figure: 100 - Feed feeding channel; 101 - Feed inlet; 102 - Sliding groove; 103 - Limit baffle; 500 - Ejection rod; 1000 - Energy storage spring; 501 - First - order meshing teeth; 502 - Second - order meshing teeth; 503 - Gear - position catch; 504 - Convex slide rail; 200 - Range - driving motor; 600 - Range - driving gear; 601 - First - order driving teeth; 602 - Second - order driving teeth; 700 - Feeding excitation device; 701 - First excitation teeth; 702 - Second excitation teeth; 800 - Gear - position spring; 900 - Limit mechanism; 901 - Third limit buckle; 902 - Second limit buckle; 903 - First limit buckle; 300 - Detection switch; 11 - Fence; 2 - Feeding driving assembly; 21 - Feeding driving motor; 22 - Feeding driving gear; 23 - Hall sensor; 3 - Body blanking port; 4 - Base; 41 - Blanking port; 42 - Second opening; 43 - Convex cylinder; 5 - Transmission turntable; 51 - Feed accommodation hole; 52 - First opening; 53 - Magnet; 61 - First hollow part; 62 - Second hollow part; 63 - Torsion spring; 64 - Blocking plate; 65 - Door shaft; 66 - Door - shaft mounting part. Detailed implementation manners

[0036] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described and explained below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0037] Obviously, the drawings described below are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, the present application can also be applied to other similar scenarios based on these drawings. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some designs, manufacturing or production changes made based on the technical content disclosed in the present application are only conventional technical means and should not be understood that the content disclosed in the present application is insufficient.

[0038] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the ordinary meanings understood by those with ordinary skills in the technical field to which this application belongs. The words such as "a", "an", "one kind", "the" and the like involved in this application do not indicate a quantity limitation and may represent a singular or plural number. The terms "include", "comprise", "have" and any variations thereof involved in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or units, but may further include steps or units not listed, or may further include other steps or units inherent to these processes, methods, products or devices. The terms "first", "second", "third" involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0039] The first embodiment of this application provides a feed feeding robot with adjustable range, aiming to realize multi-gear adjustment of the range of the feed feeding robot and improve the intelligent degree of feed feeding of the robot. The feed feeding robot at least includes: a range adjustment device, a feeding control device, a feeding device and a feed feeding device;

[0040] Among them, the feed feeding device has multiple range gears and is used to project the feed output by the feeding device according to the adjusted range gear. Specifically, the multiple range gears of the feed feeding device are used to limit the travel distance of the feed feeding device for projecting the feed. The range adjustment device is used to adjust the range gear of the feed feeding device. Specifically, the adjustment of the range gear of the feed feeding device by the range adjustment device can be adjusted according to the range gear selected by the user, or can be adjusted according to other factors such as the type / weight of the projected feed. The feeding control device is used to control the start and stop of the feed projection work of the feed feeding device; the feeding device is used to output feed for the feeding device to project.

[0041] The feed feeding robot provided in this embodiment has multiple range gears, enabling the feed feeding device to switch different range gears to project the feed for different travel distances, with better interest. It is difficult for pets to predict the travel distance of the feed projection, keeping them fresh, and enhancing the attraction of the feed feeding robot to pets. At the same time, the feeding control device and the range adjustment device are set, enabling independent control of the range gear switching and feed emission of the feed feeding robot.

[0042] In some embodiments of this application, Figure 1 shows a structural diagram of a feed feeding robot with adjustable range, Figure 1The feeding device 1 shown in the figure transfers the feed to be fed to the feeding port 101 of the feed feeding device through the blanking port 3 of the robot body, so that the feed feeding device can perform the feed projection work on the feed.

[0043] In the feed feeding robot with adjustable range provided by the second embodiment of the present application, as Figure 2 shown, the feed feeding device at least includes: an ejection rod 500 and an energy storage spring 1000. Specifically, one end of the ejection rod 500 abuts against the energy storage spring 1000, and the other end of the ejection rod 500 serves as the ejection end of the feed feeding device to eject the feed; it should be noted that one end of the ejection rod 500 abutting against the energy storage spring 1000 means that one end of the ejection rod 500 is in contact with the energy storage spring 1000, and there is an interaction force between the ejection rod 500 and the energy storage spring 1000. For example, the energy storage spring 1000 changes the compression amount under the push of the ejection rod 500, and the energy stored by the compression of the energy storage spring 1000 provides kinetic energy for the ejection of the ejection rod 500.

[0044] The feed feeding device has M range gears, and the realization of the M range gears of the feed feeding device depends on the N-1 order meshing teeth provided on the ejection rod and M gear hooks. In this embodiment, M gear hooks are adopted, and each gear hook indicates different compression amounts of the energy storage spring and also indicates various projection strokes that the feed feeding device can execute. The feeding control device realizes the switching of different projection strokes of the feed feeding device by meshing with different gear hooks. Specifically, the initial state of the range adjustment device is in a completely disengaged meshing state with the N-1 order meshing teeth, that is, the range adjustment device and the N-1 order meshing teeth do not contact and interact with each other. When the range adjustment device starts to adjust the range gear of the feed feeding device, the range adjustment device meshes with one of the N-1 order meshing teeth each time. The meshing order of the range adjustment device and the N-1 order meshing teeth is related to the compression amount of the energy storage spring. Therefore, the range adjustment device adjusts the range gear of the feed feeding device by adjusting its meshing state with the N-1 order meshing teeth; the initial state of the feeding excitation device is in a completely disengaged meshing state with the M gear hooks, that is, the feeding excitation device and the M gear hooks do not contact and interact with each other. When the feeding excitation device starts to control the start and stop of the feed feeding work of the feed feeding device, the feeding excitation device adjusts its meshing state with the M gear hooks. When the feeding excitation device is in a meshing state with one of the M gear hooks, the feed feeding work of the feed feeding device is not started. When the energy storage spring is compressed, and the range adjustment device is in a completely disengaged meshing state with the N-1 order meshing teeth and the feeding excitation device is in a completely disengaged meshing state with the M gear hooks, the energy stored by the compression of the energy storage spring is used as kinetic energy for the ejection rod to eject, that is, the feed feeding device performs the feed feeding work by the ejection of the ejection rod. It should be noted that M is an integer greater than or equal to N, and N is an integer greater than or equal to 2; in this application, the number of range gears of the feed feeding device is limited to be greater than or equal to the number of meshing teeth of the ejection rod. Based on the meshing of the range adjustment device and the N-1 order meshing teeth, there are more gears available for selection for the projection stroke distance of the feed feeding device, improving the fineness of range selection.

[0045] In some embodiments of the present application, a feed feeding device including 3 range gears is provided, such as Figure 3 shown, the ejection rod 500 includes 2 order meshing teeth and 3 gear hooks 503, and the 2 order meshing teeth include: the first order meshing tooth 501 and the second order meshing tooth 502.

[0046] In some embodiments of the present application, as Figure 3 shown, a convex slider 504 is provided on the ejection rod, as Figure 2As shown, a sliding groove 102 is provided in the feed feeding device, and the ejection rod 500 slides in the sliding groove 102 based on the protruding slider 504 provided thereon. In this embodiment, by providing the protruding slider 504 on the ejection rod 500, the contact area between the ejection rod 500 and the feed feeding device during the sliding process is reduced to reduce sliding friction, improving the utilization rate of the kinetic energy provided by the energy storage spring 1000 for the ejection rod 500, and the sliding path of the ejection rod 500 is defined based on the sliding groove 102, thereby the feed ejection direction.

[0047] In the feed feeding robot with adjustable range provided in the third embodiment of the present application, as Figure 2 shown, the range adjustment device at least includes: a range driving motor 200 and a range driving gear 600 with N-order driving teeth; the range driving motor 200 is electrically connected to the range driving gear 600, and the range adjustment device adjusts the range gear of the feed feeding device by adjusting the order of the driving teeth meshing with the meshing teeth on the ejection rod 500. The 1st to (N - 1)th order driving teeth in the range driving gear 600 are used to match and mesh with the (N - 1)th order meshing teeth on the ejection rod 500, and the energy storage of the energy storage spring 1000 is compressed by the way of rotational meshing to achieve the purpose of range adjustment; wherein, the 1st order driving tooth is adaptively meshed with the 1st order meshing tooth, the 2nd order driving tooth is adaptively meshed with the 2nd order meshing tooth, and similarly, the (N - 1)th order driving tooth is adaptively meshed with the (N - 1)th order meshing tooth. In this embodiment, the range adjustment device is also used to adjust the control of the feed projection work of the feed feeding device by the feeding control device. Specifically, the Nth order driving tooth is used to adjust the feeding control device, and the adjustment of the Nth order driving tooth to the feeding control device can be but not limited to direct adjustment or indirect adjustment through other devices. In this embodiment, by providing a range driving gear with N-order driving teeth to perform step-by-step matching meshing with the (N - 1)th order meshing teeth, the ejection rod compresses the energy storage spring by the meshing of the meshing teeth, and the compression amount of the energy storage spring can be adjusted by the adaptive meshing of different order driving teeth and meshing teeth, thereby adjusting the range gear of the feed feeding device, and providing kinetic energy for the feed projection work of the feed feeding device based on the compressed energy storage of the energy storage spring.

[0048] As Figure 3 and Figure 4 shown, in some embodiments of the present application, a range driving gear with 3-order driving teeth and an ejection rod provided with 2-order meshing teeth are provided. The range driving gear with 3-order driving teeth includes a 1st order driving tooth 601, a 2nd order driving tooth 602 and a 3rd order driving tooth 603. Among them, the 1st order driving tooth 601 is used to mesh with the 1st order meshing tooth 501, and the 2nd order driving tooth 602 is used to mesh with the 2nd order meshing tooth 502.

[0049] In the feed feeding robot with adjustable range provided by the fourth embodiment of the present application, the diameter of the N-1th order meshing teeth decreases step by step as the order increases, the diameters of the first-order driving teeth to the N-1th order driving teeth increase step by step as the order increases, and the diameter of the Nth order driving tooth is greater than or equal to the diameter of the N-1th order driving tooth. The range driving gear is driven by the range driving motor to perform forward rotation and reverse rotation. When the range driving gear performs forward rotation, the driving teeth on the range driving gear are meshed with the meshing teeth step by step. As the number of meshing orders between the driving teeth on the range driving gear and the meshing teeth increases, the compression amount of the energy storage spring increases, and the kinetic energy of ejection that the energy storage spring can provide for the feed feeding device increases; based on the design of the present application that the diameter of the meshing teeth decreases step by step and the diameter of the driving teeth increases step by step, when the range driving gear performs reverse rotation, the driving teeth on the range driving gear only disengage from the currently meshed first-order meshing teeth, and there is no need to perform reverse step-by-step meshing disengagement between the driving teeth and the meshing teeth. The range driving gear only needs to perform a small-angle reverse rotation to completely disengage from the meshing state with the meshing teeth, saving the power required by the range driving motor. In particular, when the feeding excitation device is not meshed with the gear position buckle, the range adjustment device, based on the reverse rotation of the range driving gear, makes the range driving gear completely disengage from the meshing state with the meshing teeth, and the energy storage spring is not blocked. The energy storage spring provides ejection kinetic energy for the ejection rod based on its compressed energy storage, so as to realize the excitation of the feed projection work of the feed feeding device. As Figure 3 shown, the figure shows that the diameter of the first-order meshing teeth on an ejection rod is greater than the diameter of the second-order meshing teeth, and the diameter of the meshing teeth decreases step by step; as Figure 4 shown, the figure shows a driving gear in which the diameters of the first-order driving teeth and the second-order driving teeth increase step by step as the order increases, and the diameter of the third-order driving tooth is equal to the diameter of the second-order driving tooth. The structural design of the meshing teeth and the driving teeth provided in this embodiment simplifies the steps required for the range driving gear and the N-1th order meshing teeth on the ejection rod to disengage from the meshing state, and when the feeding excitation device is not meshed with the gear position buckle, the range adjustment device controls the forward rotation or reverse rotation of the range driving gear to control the feed projection work of the feed feeding device.

[0050] The feed feeding robot with adjustable range provided by the fifth embodiment of the present application, as Figure 2 shown, further includes: a feeding excitation device 700, which is used as a medium between the range adjustment device and the feeding control device, so that the feeding control device can control the start and stop of the feed projection work of the feed feeding device based on the drive of the range adjustment device. Specifically, the Nth order driving tooth of the range adjustment device is used to drive the feeding excitation device 700, so that the feeding excitation device 700, based on the drive of the Nth order driving tooth, controls the feeding control device to control the feed feeding device to start the feed projection work.

[0051] Specifically, as Figure 8 shown, the feeding excitation device 700 at least includes: a first excitation tooth 701 and a second excitation tooth 702; wherein, the first excitation tooth 701 is driven to rotate by the Nth-order driving tooth of the range driving gear, and the rotation of the first excitation tooth 701 drives the second excitation tooth 702 to rotate, and the second excitation tooth is used to excite the feeding control device to control the feed projection work of the feed feeding device. As Figure 6 shown, when the second excitation tooth 702 shown in the figure is driven to rotate by the first excitation tooth 701, the second excitation tooth 702 limits and excites the feeding control device, so that the feeding control device controls the feed feeding device to start the feed projection work. In this embodiment, by setting the feeding excitation device, the range adjustment device can indirectly adjust the control of the feeding control device over the feed projection work, and only based on the range adjustment motor, the control of the range adjustment device and the feeding control device can be realized, reducing the number of motors inside the feed feeding robot, simplifying the internal structure of the feed feeding robot, and reducing the production cost.

[0052] In the feed feeding robot with adjustable range provided in the sixth embodiment of the present application, as Figure 2 shown, the feeding control device at least includes: a limiting mechanism 900 and a gear spring 800; wherein, the bottom of the limiting mechanism 900 abuts against the gear spring 800. It can be understood that the bottom of the limiting mechanism 900 is in contact with the gear spring 800 and there is an interaction force between the two. Based on the gear spring 800 abutted against the bottom of the limiting mechanism 900, the limiting mechanism 900 moves with the expansion and contraction of the gear spring 800. Preferably, in some embodiments, an opening is provided at the bottom of the limiting mechanism 900, and a part of the gear spring 800 is sleeved inside the opening at the bottom of the limiting mechanism 900, so that the gear spring 800 is limited by the limiting mechanism 900. The feeding control device controls the limiting mechanism 900 to engage with the gear catch 503 to realize the control of the feed projection work of the feed feeding device by the feeding control device. When the limiting mechanism 900 engages with the gear catch 503, the ejecting rod 500 cannot eject, that is, the feed projection work stops. On the contrary, when the limiting mechanism 900 disengages from the gear catch 503, the ejecting rod 500 can freely eject based on the kinetic energy provided by the energy storage spring when the engaging teeth and the driving teeth are in a completely disengaged state. The second excitation tooth 702 of the feeding excitation device contacts the limiting mechanism 900 by rotation, adjusts the position of the limiting mechanism, and indirectly adjusts the compression amount of the gear spring to realize the adjustment of the engagement state between the limiting mechanism and the gear catch. The feeding control device provided in this embodiment is provided with a gear spring at the bottom of the limiting mechanism, so that the limiting mechanism can adjust its own position by compressing the gear spring to adjust its engagement state with the gear catch.

[0053] In the feed feeding robot with adjustable range provided by the seventh embodiment of the present application, as Figure 5 shown, the limiting mechanism at least includes: a first limiting buckle 903 and a second limiting buckle 902; wherein, the first limiting buckle 903 is used to engage with the gear hook 503; the second limiting buckle 902 is used to drive the second excitation tooth 702 of the feeding excitation device to adjust the expansion and contraction amount of the gear spring, so as to adjust the engagement between the first limiting buckle and the gear hook. As Figure 6 shown, when the first excitation tooth 701 of the feeding excitation device is driven by the Nth-order excitation tooth of the range adjustment device to rotate, the rotation of the first excitation tooth 701 drives the rotation of the second excitation tooth 702. The second limiting buckle 902 is driven by the rotation of the second excitation tooth 702 to apply a compressive force to the gear spring 800, so that the gear spring 800 is compressed. The first limiting buckle 903 is driven by the second limiting buckle 902 to move downward, so that the first limiting buckle 903 disengages from the gear hook 503. On the contrary, as Figure 7 shown, the first excitation tooth 701 of the feeding excitation device is not driven by the Nth-order excitation tooth, and the second excitation tooth 702 does not apply a compressive force to the second limiting buckle 902 to compress the gear spring 800. The gear spring 800 naturally extends. Based on the natural extension of the gear spring 800, the first limiting buckle 903 engages with the gear hook 503, realizing the gear limiting function of the limiting mechanism 900 on the feed feeding device.

[0054] The feed feeding robot with adjustable range provided by some embodiments of the present application switches from the state shown in Figure 6 to the state shown in Figure 7 and then switches from the state shown in Figure 7 to the state shown in Figure 8 Specifically, when the feed feeding robot is in the state shown in Figure 6 the driving gear 600 is completely disengaged from the second-order engaging teeth on the ejection rod 500, and the first limiting buckle 903 of the limiting mechanism 900 is completely disengaged from the third-gear engaging teeth on the ejection rod 500. The second excitation tooth 702 of the projection excitation device does not limit the limiting mechanism 900, the gear spring 800 naturally extends, the feed feeding device is in the projection state, and the energy storage spring 1000 naturally extends.

[0055] When the feed feeding robot is in Figure 7In the state shown, the first-stage driving tooth 601 of the driving gear 600 meshes with the first-stage meshing tooth 501 on the ejection rod, the energy storage spring 1000 is compressed, and the first limiting buckle 903 of the limiting mechanism 900 has not yet meshed with the gear hook 503 on the ejection rod. The feed feeding device is still in the energy storage state. In this state, if the driving gear rotates in the reverse direction at this time, there is no need to control the separation of the limiting mechanism from the gear hook. The energy storage spring 1000 compresses and stores energy directly for the ejection rod 500 to eject the feed, but the energy stored in the energy storage spring 1000 is not enough for the ejection rod to project the feed at the minimum range gear.

[0056] The feed feeding robot is in Figure 8 In the state shown, the second-stage driving tooth 602 of the driving gear 600 meshes with the second-stage meshing tooth 502 on the ejection rod, the energy storage spring 1000 is further compressed, the first limiting buckle 903 of the limiting mechanism 900 meshes with the gear hook 503 on the ejection rod, and the feed feeding device is in the chambering state. In this state, for the feed feeding device to perform the feed projection operation, it is necessary to first control the driving gear to rotate in the reverse direction, so that the driving gear is completely disengaged from the meshing tooth, and based on the third driving tooth 603 of the driving gear, the feeding excitation device is excited and driven, so that the feeding excitation device limits the limiting mechanism 900, so that the first limiting buckle 903 of the limiting mechanism 900 is disengaged from the gear hook 503, so that the compressed energy storage of the energy storage spring is used for the ejection rod 500 to project the feed. The gear order of the first limiting buckle 903 meshing with the gear hook reflects the magnitude of the compressed energy storage of the energy storage spring 1000, and the magnitude of the compressed energy storage of the energy storage spring 1000 is proportional to the projection range of the feed feeding device.

[0057] When the feed feeding robot changes from Figure 6 the state shown to Figure 7 the state shown, its switching process includes: the driving gear 600 is driven by the range driving motor 200 to rotate clockwise, so that the first excitation tooth 701 of the feeding excitation device is separated from the third-stage driving tooth 603 of the driving gear. The first excitation tooth 701 is not driven by the third-stage driving tooth. Indirectly, the second excitation tooth 702 is not driven by the first excitation tooth 701, and the second excitation tooth 702 does not limit the second limiting buckle 902 of the limiting mechanism. The gear spring 800 naturally extends, and the first limiting buckle 903 of the limiting mechanism contacts the gear hook 503 on the ejection rod 500. As the clockwise rotation angle of the driving gear changes, the first-stage driving tooth 601 of the driving gear meshes with the first-stage meshing tooth 501 on the ejection rod 500. When the feed feeding robot changes from Figure 7 the state shown to Figure 8The state shown has a switching process that includes: The drive gear 600 is further driven to rotate clockwise by the range drive motor 200. The second-stage drive teeth 602 of the drive gear mesh with the second-stage meshing teeth 502 on the ejection rod 500. The energy storage spring is further compressed, and the gear catch 503 on the ejection rod meshes with the first limit catch 903 of the limit mechanism 900.

[0058] In the feed feeding robot with adjustable range provided by the eighth embodiment of the present application, as Figure 7 shown, the feeding control device further includes a limit baffle 103 for restricting the moving direction of the limit mechanism when it moves with the compression of the gear spring. When the second limit catch 902 is driven to slide downward by the rotation of the second excitation tooth 702, the limit baffle 103 restricts the moving direction of the second limit catch 902 sliding downward. During the downward sliding of the second limit catch 902, the gear spring 800 deforms and compresses. Indirectly, the deformation and compression direction of the gear spring 800 is also restricted by the limit baffle 103. In this embodiment, by setting the limit baffle 103 in the feeding control device to define the moving directions of the limit mechanism and the gear spring, it is ensured that the feeding control device can move and reset normally under the excitation of the feeding excitation device, maintaining the smoothness and recyclability of the feeding control device in performing the feeding control work.

[0059] The feed feeding robot with adjustable range provided by the ninth embodiment of the present application, as Figure 2 shown, further includes: a detection switch 300 for detecting the feed projection working state of the feed feeding device. Specifically, the feed projection working state of the feed feeding device includes: a projection state and a to-be-projected state; the to-be-projected state includes a chambering state and an energy storage state; among them, when the feed projection work of the feed feeding device is in the projection state, the range drive gear of the range adjustment device is completely disengaged from the N-1 stage meshing teeth on the ejection rod. At the same time, the limit mechanism of the feeding control device is completely disengaged from the M gear catches on the ejection rod, and the energy storage spring rebounds based on its own elasticity, causing the ejection rod to slide and eject; when the feed projection working state of the feed feeding device is in the chambering state, the limit mechanism of the projection control device is engaged with one of the gear catches on the ejection rod. At this time, the compression energy storage of the energy storage spring can at least provide the projection kinetic energy for the shortest range of the feed projection work of the feed feeding device; when the feed projection work of the feed feeding device is in the energy storage state, the range drive gear of the range adjustment device is engaged with one of the meshing teeth on the ejection rod, while the limit mechanism of the projection control device is still completely disengaged from the M gear catches on the ejection rod. At this time, the compression energy storage of the energy storage spring has not yet been able to provide the projection kinetic energy for the shortest range of the feed projection work of the feed feeding device, and the feed feeding device is storing energy.

[0060] The detection switch 300 can be, but is not limited to, a toggle trigger switch, a touch trigger switch, or a tactile trigger switch, etc. As Figure 5 shown, the limit mechanism further includes: a third limit buckle 901, which is used to trigger the detection switch 300 when the first limit buckle 903 is completely disengaged from the gear catch 503; specifically, when the second limit buckle 902 is driven by the second excitation tooth 702 to slide downward, the third limit buckle 901 slides downward with the second limit buckle 903 to trigger the detection switch 300. At the same time, the first limit buckle 903 slides downward with the second limit buckle 902 to disengage from the gear catch 503, so that the detection switch 300 can detect whether the first limit buckle 903 is completely disengaged from the gear catch 503. In this embodiment, by setting the third limit buckle 901 on the limit mechanism, the detection switch is assisted to detect the feed projection work, and the feed feeding robot is controlled based on the detection result, improving the intelligence level of the feed feeding robot.

[0061] The feed feeding robot with adjustable range provided in the tenth embodiment of the present application, as Figure 2 shown, a feed feeding channel 100 is provided in the feed feeding device, and a feed inlet 101 is provided on the feed feeding channel 100 for receiving the feed to be projected transmitted by the feeding device; the ejection rod 500 is arranged at one end of the feed feeding channel 100 to project the feed received by the feed inlet 101. Specifically, the feed to be projected transmitted by the feeding device falls into the feed feeding channel of the feed feeding device through the feed inlet, and the ejection rod projects the feed in the feed feeding channel out of the feed feeding device according to the predetermined range gear based on the kinetic energy provided by the energy storage spring, realizing the feed projection work of the feed feeding robot.

[0062] In the feed feeding robot with adjustable range provided in the eleventh embodiment of the present application, the feeding device at least includes: a fence, a transmission turntable, a base, and a feeding drive assembly; wherein, as Figure 9 shown, the fence 11 is detachably connected to the base 4 to form a feed storage bin, as Figure 10As shown in the figure, a blanking port 41 is provided on the base. The blanking port 41 of the base is docked with the feeding port 101 of the feed feeding device through the blanking port 3 of the robot body, so that the feed in the feed storage bin falls into the feed feeding device through the blanking port 41 of the base via the feeding port 101 of the feed feeding device; at least one feed storage hole 51 is provided on the transmission turntable 5. The feed storage hole 51 is used to define the amount of feed falling into the blanking port 41 on the transmission turntable 5. The feed storage hole 51 on the transmission turntable 5 is a hollow structure, and the feed storage hole 51 and the surface of the base 4 form a feed transmission bin; the feeding drive assembly 2 is used to drive the transmission turntable 5 to rotate, so that the feed storage hole 51 of the transmission turntable 5 is docked with the blanking port 41 of the base 4, and the feed contained in the feed transmission bin is dropped into the feeding port 101 of the feed feeding device through the blanking port 41 of the base 4. The feeding device provided in this embodiment is based on the size limitation of the feed storage holes on the transmission turntable, so that the feeding device can only transfer the feed with the maximum capacity of the feed storage holes to the feed feeding device at most each time, realizing the quantitative blanking of the feeding device, avoiding a large amount of blanking of the feeding device, resulting in the blockage of the feed feeding channel of the feed feeding device, or the kinetic energy provided by the energy storage spring is not enough for the ejection rod to project the excessive feed according to the predetermined range gear, affecting the feed projection effect of the feed feeding robot.

[0063] Specifically, as Figure 10 shown, a convex cylinder 43 is provided on the base 4, a first opening 52 is provided on the transmission chassis 5, and the transmission chassis 5 is sleeved on the convex cylinder 43 of the base 4 through the first opening 52, as Figure 9 shown, a fan-shaped blocking part is provided on the fence 11. A first hollow part 61 and a second hollow part 62 are provided inside the fan-shaped blocking part. The fence 11 is sleeved on the convex cylinder 43 of the base 4 through the first hollow part 61, and the transmission turntable 5 is rotatably arranged between the fence 11 and the base 4. When the fence 11 is sleeved on the convex cylinder of the base through the first hollow part 61, the second hollow part 62 of the fan-shaped blocking part is located directly above the blanking port 41 of the base 4.

[0064] Specifically, as Figure 10 shown, at least one blocking component is provided on the side of the second hollow part 62 of the fence 11. The blocking component is used to block the remaining feed other than the feed contained in the feed storage holes of the transmission turntable from entering the second hollow part 62 of the fan-shaped blocking part, so as to control the amount of feed provided by the transmission turntable each time; among them, as Figure 13 shown, the blocking component at least includes: a torsion spring 63, a blocking plate 64, a door shaft 65 and a door shaft mounting part 66; specifically, the torsion spring 63 and the blocking plate 64 are sleeved on the door shaft 65, and the door shaft 65 is assembled on the door shaft mounting part 66. Figure 13An embodiment is shown in which a blocking component is provided on each of the two side surfaces of the second hollow portion 62 of the fence 11. In this embodiment, by combining a torsion spring with a blocking plate, the blocking plate can dynamically block the feed from entering the second hollow portion. When the feed driving force is relatively large, if the blocking plate rigidly blocks the feed from entering the second hollow portion, it is easy to cause the feed to get stuck, affecting the smoothness of feeding. On the contrary, this embodiment adopts dynamic blocking, which can dynamically block according to the actual feed driving force, reduce the problem of feed jamming, ensure the smoothness of feeding, and improve the user experience.

[0065] In the feed feeding robot with adjustable shooting range provided in the twelfth embodiment of the present application, the feeding driving component 2 includes a feeding driving gear 22 and a feeding driving motor 21, and the feeding driving gear 22 is electrically connected to the feeding driving motor 21; the transmission turntable 5 is a gear-shaped turntable, and a second opening 42 is provided on the side surface of the base 4. A part of the gear of the transmission turntable 5 is exposed outside the base 4 through the second opening 42, so that the feeding driving gear 22 meshes with the part of the gear of the transmission turntable 5 exposed outside the base, and the feeding driving gear 22 drives the transmission turntable 5 to rotate based on the power provided by the feeding driving motor 21. In this embodiment, the outer side surface of the transmission turntable is designed as a gear shape, so that the feeding driving component drives the transmission turntable to rotate through gears, rather than directly driving the transmission turntable by electrical connection between the feeding driving component and the transmission turntable. This facilitates the user to directly disassemble the base, the transmission turntable and the fence synchronously from the body of the feed feeding robot, and it is easy for the user to assemble and align the three through the way of limit matching between the transmission turntable and the feeding driving gear, achieving the purpose of easy assembly and disassembly of the feeding device, facilitating the user to clean the feeding device, and avoiding the unsanitary situation caused by the retention of feed residues in the feeding device.

[0066] In the feed feeding robot with adjustable shooting range provided in the thirteenth embodiment of the present application, the feed feeding robot further includes: a position detection device for detecting the relative position information between the feed receiving hole and the material dropping port of the transmission turntable and transmitting it to the feeding driving component, so that the feeding driving component can accurately drive the feed receiving hole of the transmission turntable to be docked with the material dropping port. Specifically, in some embodiments of the present application, the position detection device at least includes: a magnet 53 and a Hall sensor 23. As Figure 12 shown, the magnet 53 is arranged at the bottom of the transmission turntable 5, as Figure 1 and Figure 11As shown, the Hall sensor 23 determines the relative position information between the feed receiving hole 51 of the transfer turntable 5 and the blanking port 41 by detecting the magnet 53 at the bottom of the transfer turntable 5. In this embodiment, by arranging the magnet 53 at the bottom of the transfer turntable 5, the Hall sensor 23 senses the magnet 53 based on the magnetic field effect, so as to determine the relative position information between the feed receiving hole 51 of the transfer turntable 5 and the blanking port 41, facilitating the feeding drive assembly 2 to drive the transfer turntable 5 based on the relative position information, and enabling the feed receiving hole 51 of the transfer turntable 5 to be accurately docked with the second blanking port 41, improving the blanking fluency of the feeding device.

[0067] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The above embodiments are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modification, equivalent substitution, or improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A feed feeding robot with adjustable range, characterized in that, The feed feeding robot includes: A range adjustment device for adjusting the range gear of the feed feeding device; A feeding control device for controlling the start and stop of the feed projection work of the feed feeding device; A feeding device for outputting feed for the feeding device to project; A feed feeding device having multiple range gears for projecting the feed output by the feeding device according to the adjusted range gear; Among them, the feed feeding device includes: an ejection rod and an energy storage spring; wherein, one end of the ejection rod abuts against the energy storage spring, and the ejection rod obtains the kinetic energy for ejecting the feed based on the energy storage of the compressed energy storage spring. The other end of the ejection rod serves as the ejection end of the feed feeding device to eject the feed; the feed feeding device includes M range gears, and N-1 order engaging teeth are arranged on the ejection rod. The range adjustment device adjusts the range gear of the feed feeding device by adjusting its engagement state with the engaging teeth; M gear hooks are also arranged on the ejection rod, and the feeding excitation device controls the start and stop of the feed projection work of the feed feeding device by adjusting its engagement state with the gear hooks; wherein, M is an integer greater than or equal to N, and N is an integer greater than or equal to 2; Among them, the range adjustment device includes: a range driving motor and a range driving gear with N-order driving teeth; wherein, the range driving motor is electrically connected to the range driving gear, and the range adjustment device adjusts the range gear of the feed feeding device by adjusting the order of the driving teeth engaged with the engaging teeth on the ejection rod; The feed feeding robot further includes: a feeding excitation device for exciting the control of the feed projection work of the feed feeding device by the feeding control device based on the drive of the range adjustment device; The feeding excitation device includes: a first excitation tooth and a second excitation tooth; wherein, the first excitation tooth is driven by the Nth-order driving tooth of the range driving gear to rotate, and the rotation of the first excitation tooth drives the rotation of the second excitation tooth, and the second excitation tooth is used to excite the control of the feed projection work of the feed feeding device by the feeding control device; The feeding control device includes: a limiting mechanism and a gear spring, and the bottom of the limiting mechanism abuts against the gear spring; wherein, the feeding control device controls the start and stop of the feed projection work of the feed feeding device by controlling the engagement of the limiting mechanism with the gear hook, and the second excitation tooth controls the expansion and contraction amount of the gear spring by rotating the limiting mechanism to control the engagement situation between the limiting mechanism and the gear hook; The limiting mechanism includes: a first limiting buckle and a second limiting buckle; wherein, the first limiting buckle is used to engage with the gear hook; the second limiting buckle is used to adjust the expansion and contraction amount of the gear spring under the drive of the second excitation tooth to control the engagement of the first limiting buckle with the gear hook; Among them, when the first excitation tooth of the feeding excitation device is driven by the Nth-order driving tooth of the range adjustment device to rotate, the rotation of the first excitation tooth drives the rotation of the second excitation tooth, and the second limiting buckle gives a compressive force to the gear spring under the rotation of the second excitation tooth, so that the gear spring is compressed, and the first limiting buckle is driven by the second limiting buckle to move downward, so that the first limiting buckle is disengaged from the engagement with the gear hook.

2. The adjustable-range feed feeding robot according to claim 1, characterized in that The diameter of the N-1th order meshing teeth decreases step by step with the increase of the order. The diameters of the driving teeth from the 1st order to the N-1th order increase step by step with the increase of the order. The diameter of the Nth order driving tooth is greater than or equal to the diameter of the N-1th order driving tooth.

3. The adjustable-range feed feeding robot according to claim 1, characterized in that, An opening is provided at the bottom of the limiting mechanism, and a part of the gear shift spring is sleeved inside the opening at the bottom of the limiting mechanism.

4. The adjustable-range feed feeding robot according to claim 3, wherein The feeding control device further includes: a limiting baffle for restricting the moving direction of the limiting mechanism when it moves with the compression of the gear shift spring.

5. The adjustable-range feed feeding robot according to claim 1, wherein The feed feeding robot further includes: a detection switch for detecting the feed projection working state of the feed feeding device; the limiting mechanism further includes: a third limiting buckle for triggering the detection switch when the first limiting buckle is disengaged from the gear shift hook.

6. The adjustable-range feed feeding robot according to claim 1, characterized in that, The feed feeding device further includes: a feed feeding channel provided with a feed inlet for receiving the feed output by the feeding device; an ejection rod is arranged at one end of the feed feeding channel to project the feed received by the feed inlet.

7. The adjustable-range feed feeding robot according to claim 6, characterized in that, The feeding device includes: a fence, a transmission turntable, a base and a feeding drive assembly; the fence is detachably connected to the base to form a feed storage bin. A blanking port is provided on the base, and the blanking port of the base is docked with the feed inlet of the feed feeding device. At least one feed storage hole is provided on the transmission turntable, and the feed storage hole is used to limit the amount of feed falling into the blanking port on the transmission turntable; the feeding drive assembly is used to drive the transmission turntable to rotate. When the feed storage hole of the transmission turntable is docked with the blanking port, the feed contained in the feed storage hole falls into the feed inlet of the feed feeding device through the blanking port.

8. The adjustable-range feed delivery robot according to claim 7, characterized in that, The base is provided with a convex cylinder, the transmission turntable is provided with a first opening, and the transmission turntable is sleeved on the convex cylinder of the base through the first opening. The fence is provided with a fan-shaped blocking part, and a first hollow part and a second hollow part are arranged inside the fan-shaped blocking part. The fence is sleeved on the convex cylinder of the base through the first hollow part, and the second hollow part of the fan-shaped blocking part is located directly above the blanking port of the base; wherein, the transmission turntable is rotatably arranged between the fence and the base.

9. The adjustable-range feed delivery robot according to claim 8, wherein A blocking assembly is arranged on the side of the second hollow part for blocking the remaining feed other than the feed contained in the feed storage hole of the transmission turntable from entering the second hollow part of the fan-shaped blocking part, and controlling the amount of feed provided by the transmission turntable each time; wherein, the blocking assembly at least includes: a torsion spring, a blocking plate, a door shaft and a door shaft mounting part; the torsion spring and the blocking plate are sleeved on the door shaft, and the door shaft is assembled on the door shaft mounting part.

10. The adjustable-range feed feeding robot according to claim 7, wherein, The feeding drive assembly includes a feeding drive gear and a feeding drive motor, and the feeding drive gear is electrically connected to the feeding drive motor; the transmission turntable is a gear-shaped turntable, and a second opening is provided on the side of the base. A part of the gear of the transmission turntable is exposed outside the base through the second opening, so that the feeding drive gear meshes with the part of the gear of the transmission turntable exposed outside the base, and the feeding drive gear drives the transmission turntable to rotate based on the power provided by the feeding drive motor.

11. The adjustable-range feed delivery robot according to claim 10, characterized in that, The feed feeding robot further includes: a position detection device, configured to detect the relative position information between the feed accommodating holes and the material discharging ports of the transmission turntable and transmit the information to the feeding drive assembly, so that the feeding drive assembly can accurately drive the feed accommodating holes of the transmission turntable to be docked with the material discharging ports; wherein, the position detection device includes: a magnet and a Hall sensor, the magnet is arranged at the bottom of the transmission turntable, and the Hall sensor determines the relative position information between the feed accommodating holes and the material discharging ports of the transmission turntable by detecting the magnet at the bottom of the transmission turntable.

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