Scaring robot

Abstract

The present application relates to a kind of driving robots, including AGV chassis, blocking structure and whipping driving structure.The blocking structure is arranged on the AGV chassis, and the blocking structure is at least partially located in the AGV chassis front, for blocking livestock backflow.The whipping driving structure is arranged on the AGV chassis, and the whipping driving structure is located in the AGV chassis front, and the whipping driving structure includes driving whip, and the whipping range of the driving whip is in front of the upper part of the blocking structure.Using driving robot instead of artificial efficient driving livestock, and using driving robot to drive livestock can reduce the opportunity of direct contact between personnel and livestock, thereby greatly reducing the risk of infection in the process of livestock breeding.

Description

Technical Field

[0001] This invention relates to the field of livestock breeding auxiliary equipment technology, and in particular to herding robots. Background Technology

[0002] In large-scale livestock farming, livestock are housed in different environments at different stages of their growth. For example, breeding pigs have separate gestation pens, washing areas, and farrowing pens. Manually herding livestock is not only labor-intensive and inefficient, but also carries a high risk of infection due to contact between personnel and animals. Summary of the Invention

[0003] To address the aforementioned problems of low efficiency and high infection risk, this invention proposes a herding robot that efficiently drives livestock instead of manually. Furthermore, using a herding robot reduces the chance of direct contact between humans and livestock, thereby significantly reducing the risk of infection during livestock farming.

[0004] A deterrent robot includes:

[0005] AGV chassis;

[0006] A blocking structure is disposed on the AGV chassis, and the blocking structure is at least partially located in front of the AGV chassis, for preventing livestock from flowing back;

[0007] A whip-like driving structure is provided on the AGV chassis and located at the front of the AGV chassis. The whip-like driving structure includes a driving whip, and the whipping range of the driving whip is in front of the upper part of the blocking structure.

[0008] In one embodiment, the driving robot further includes a navigation system mounted on the AGV chassis, the navigation system being able to travel along a predetermined route according to instructions.

[0009] In one embodiment, the whipping and driving structure includes a rotary drive and a blade. The rotary drive is disposed on the AGV chassis, and the blade is mounted on the rotation axis of the rotary drive, with the length direction of the blade intersecting the axial direction of the rotation axis. The driving whip is mounted on the end of the blade away from the rotation axis.

[0010] In one embodiment, the whip-driving structure further includes a base and a hinge seat. The base is disposed on the AGV chassis, and the hinge seat is hinged to the base. The rotary drive is connected to the hinge seat, and the hinge seat can change the pitch angle of the driving whip's rotation surface when it rotates relative to the base.

[0011] In one embodiment, the middle portion of the blade is connected to the rotation axis, and the driving whip passes through both ends of the blade;

[0012] And / or, the whipping drive structure further includes a protective cover, the base and the hinge seat are both located inside the protective cover, the rotary drive component is partially located inside the protective cover, and the rotary shaft passes through the protective cover.

[0013] In one embodiment, the blocking structure includes a main baffle and two telescopic baffles. The main baffle is fixed in front of the AGV chassis and faces forward. The main baffle and the telescopic baffles are arranged in parallel. The telescopic baffles slide with the main baffles, and the sliding direction is a left-right direction orthogonal to the forward direction.

[0014] In one embodiment, the blocking structure further includes a main back plate, which is fixedly disposed relative to the AGV chassis. The main back plate and the main baffle are arranged parallel to each other at intervals. The telescopic baffle is located between the main back plate and the main baffle. A support plate is provided at the top of the main back plate and is connected to the top of the main baffle. A plurality of reinforced support members are provided at intervals in front of the main back plate. Each of the reinforced support members is connected to the main back plate and the main baffle. When the two telescopic baffles are in the retracted state, the two telescopic baffles are spaced apart and the plurality of reinforced support members are located between the two telescopic baffles.

[0015] The front of the main back plate is provided with multiple heavy-duty slide rails, and the guiding direction of each heavy-duty slide rail is the left and right direction. The telescopic baffle is provided with a slide rail connecting plate at the position corresponding to each heavy-duty slide rail. The telescopic baffle is slidably engaged with the heavy-duty slide rail through the slide rail connecting plate.

[0016] In one embodiment, the blocking structure further includes a telescopic drive unit, which includes a linear guide rail, a slide table, a connecting rod, and a drive unit. The linear guide rail is fixed relative to the AGV chassis, and the guiding direction of the linear guide rail is the forward direction of the robot. The slide table is slidably fitted on the linear guide rail, and the drive unit is used to drive the slide table to slide back and forth on the linear guide rail. The slide table is hinged to each of the telescopic baffles through at least one connecting rod, so that when the slide table slides on the linear guide rail, the telescopic baffle can extend and retract relative to the main baffle.

[0017] In one embodiment, the connecting rods hinged to the two telescopic baffles are a left connecting rod and a right connecting rod, respectively. When the telescopic baffles extend or retract relative to the main baffle, the angle between the straight line to which the left connecting rod belongs and the straight line to which the right connecting rod belongs is 30° to 150°, and the width of the two telescopic baffles is 700mm to 1300mm.

[0018] In one embodiment, the blocking structure further includes a main frame and a housing. The main frame is disposed on the AGV chassis and connected to the back of the main baffle. The linear guide rail is connected to the main frame. The housing surrounds the main frame, and the whip-driving structure is mounted on the housing.

[0019] The aforementioned solution provides a herding robot that can efficiently herd livestock, replacing manual labor. Furthermore, using a herding robot reduces direct contact between humans and livestock, significantly lowering the risk of infection during livestock rearing. Specifically, the AGV chassis moves forward carrying a blocking structure and a whip-like herding structure. During this process, the blocking structure in front of the AGV chassis intercepts the livestock behind it, preventing them from flowing back. Simultaneously, the whip-like herding structure operates, with the whip striking the livestock in front of the blocking structure, stimulating them to move forward. Moreover, the whip-like method effectively stimulates the livestock to move forward while using a gentler force, preventing the livestock from running around erratically due to excessive stimulation during the herding process. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a structural diagram of the driving robot described in this embodiment in one state;

[0023] Figure 2 This is a schematic diagram of the drive-away robot described in this embodiment in another state;

[0024] Figure 3 This is a schematic diagram of the whipping and driving structure described in this embodiment;

[0025] Figure 4 for Figure 3The right view of the whip-driving structure shown;

[0026] Figure 5 for Figure 3 The diagram shows the whip-like driving structure with the protective shield concealed.

[0027] Figure 6 for Figure 5 The structure shown is in the right view;

[0028] Figure 7 This is a schematic diagram of the blocking structure described in this embodiment;

[0029] Figure 8 This is a right view of the blocking structure described in this embodiment;

[0030] Figure 9 for Figure 8 Top view of the barrier structure shown;

[0031] Figure 10 This is a schematic diagram of the blocking structure described in this embodiment when the outer shell is hidden;

[0032] Figure 11 This is a right view of the blocking structure described in this embodiment when the outer shell is hidden;

[0033] Figure 12 for Figure 11 Top view of the structure shown;

[0034] Figure 13 This is a front view of the blocking structure described in this embodiment after concealing some of the components;

[0035] Figure 14 for Figure 13 The structure shown is a left view after the main baffle is further hidden;

[0036] Figure 15 This is a schematic diagram showing the forces and travel of the blocking structure.

[0037] Explanation of reference numerals in the attached figures:

[0038] 10. Driving robot; 11. AGV chassis; 111. Roller; 12. Navigation system; 13. Blocking structure; 131. Main baffle; 132. Telescopic baffle; 1321. Slide rail connecting plate; 133. Heavy-duty slide rail; 134. Linear guide rail; 135. Slide table; 136. Linkage rod; 137. Drive unit; 138. Main frame; 139. Shell; 14. Whip-driven driving structure; 141. Driving whip; 1411. Rotating surface; 142. Rotary drive component; 1421. Rotating shaft; 143. Blade; 144. Base; 145. Hinge seat; 146. Protective cover; 15. Main back plate; 151. Support plate; 152. Reinforcing support component; 153. Clearance hole; 154. Slide rail mounting plate. Detailed Implementation

[0039] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] like Figure 1 and Figure 2 As shown, in some embodiments of this application, a driving robot 10 is provided, including an AGV chassis 11, a blocking structure 13, and a whip driving structure 14.

[0041] The blocking structure 13 is disposed on the AGV chassis 11, and the blocking structure 13 is at least partially located in front of the AGV chassis 11, for the purpose of preventing livestock from flowing back.

[0042] The whipping and driving structure 14 is disposed on the AGV chassis 11. The whipping and driving structure 14 is located at the front of the AGV chassis 11. The whipping and driving structure 14 includes a driving whip 141. The whipping range of the driving whip 141 is in front of the upper part of the blocking structure 13.

[0043] The above solution provides a herding robot 10 that can efficiently herd livestock instead of manually. Furthermore, using the herding robot 10 reduces the chance of direct contact between personnel and livestock, thus significantly reducing the risk of infection during livestock rearing. Specifically, the AGV chassis 11 moves forward carrying the blocking structure 13 and the whip-driven herding structure 14. During this process, the blocking structure 13, located in front of the AGV chassis 11, intercepts the livestock behind them, preventing them from flowing back. Simultaneously, the whip-driven herding structure 14 operates, with the whip 141 striking the livestock located in front of the blocking structure 13, stimulating them to move forward. Moreover, the whip-driven herding method effectively stimulates the livestock to move forward while using a gentler force, preventing the livestock from running around due to excessive stimulation during the herding process.

[0044] like Figure 1 and Figure 2 As shown, the AGV chassis 11 has rollers 111, and various electrical components such as controllers can be integrated into the AGV chassis 11, so that the herding robot 10 can move forward according to a preset path or be controlled by remote control, thereby reducing the labor intensity of personnel in the process of herding livestock and improving herding efficiency.

[0045] In some embodiments, the obstacle-crossing height of the AGV chassis 11 is 50mm, and the climbing ability is 15°. To enable the herding robot 10 to adapt to the width of the pig herding passage, the width of the AGV chassis 11 can be limited to less than 700mm.

[0046] In some embodiments, such as Figure 1 and Figure 2 As shown, the driving robot 10 also includes a navigation system 12, which is mounted on the AGV chassis 11 and can travel along a predetermined route according to instructions.

[0047] More specifically, such as Figures 3 to 6 As shown, in some embodiments, the whip-driving structure 14 includes a rotary drive 142 and a blade 143. The rotary drive 142 is disposed on the AGV chassis 11, and the blade 143 is mounted on the rotation shaft 1421 of the rotary drive 142, with the length direction of the blade 143 intersecting the axial direction of the rotation shaft 1421. The driving whip 141 is mounted on the end of the blade 143 away from the rotation shaft 1421.

[0048] When the rotary drive 142 is activated, the blade 143 is rotated by the rotating shaft 1421, which in turn causes the driving whip 141 mounted on the blade 143 to rotate. The area swept by the driving whip 141 during rotation defines the rotation surface 1411 of the driving whip 141. The driving whip 141 is a flexible structure such as a rope or thread. During rotation, when the livestock is within the whipping range of the driving whip 141, the driving whip 141 will come into contact with the livestock, stimulating the livestock to move forward. At the same time, the driving whip 141 will briefly deform to make way before returning to its original position. In actual use, the whipping force can be adjusted by adjusting the rotation speed of the rotary drive 142 and by changing the thickness and material of the driving whip 141.

[0049] In some embodiments, the rotating surface 1411 intersects the forward direction, and the rotating surface 1411 is inclined relative to the longitudinal plane.

[0050] In some embodiments, such as Figure 5 and Figure 6 As shown, the whip-driven structure 14 also includes a base 144 and a hinge seat 145, with the base 144 disposed on the AGV chassis 11. In some cases, the base 144 can be directly disposed on the AGV chassis 11; in other cases, the base 144 is directly mounted on the blocking structure 13, thereby indirectly disposed on the AGV chassis 11.

[0051] The hinge seat 145 is hinged to the base 144, and the rotary drive 142 is connected to the hinge seat 145. When the hinge seat 145 rotates relative to the base 144, the rotary drive 142 rotates accordingly, thereby adjusting the axial direction of the rotation axis 1421 of the rotary drive 142, and thus changing the pitch angle of the rotation surface 1411 of the driving whip 141.

[0052] In one embodiment, such as Figures 1 to 6 As shown, the axis of rotation 1421 of the rotary drive 142 lies in a longitudinal plane, and this longitudinal plane is parallel to the forward direction of the driving robot 10. The axis of rotation of the hinge seat 145 relative to the base 144 is parallel to the horizontal plane and perpendicular to the forward direction. Figure 5 and Figure 6 As shown, the rotating surface 1411 is parallel to the axis of rotation of the hinge seat 145 relative to the base 144.

[0053] More specifically, in some embodiments, such as Figures 3 to 6 As shown, the middle part of the blade 143 is connected to the rotating shaft 1421, and the driving whip 141 passes through both ends of the blade 143. When the blade 143 rotates, a portion of the driving whip 141 at both ends rotates with it.

[0054] like Figures 1 to 4As shown, the whip-driving structure 14 also includes a protective cover 146. The base 144 and the hinge seat 145 are both located inside the protective cover 146. The rotating drive member 142 is partially located inside the protective cover 146, and the rotating shaft 1421 passes through the protective cover 146. The driving whip 141 is located outside the protective cover 146, and the protective cover 146 can prevent the driving whip 141 from getting entangled in structures such as the rotating drive member 142 or the hinge seat 145.

[0055] It should be noted that the hole on the protective cover 146 through which the rotating shaft 1421 passes is larger than the outer diameter of the rotating shaft 1421, so that the protective cover 146 will not interfere with the rotating shaft 1421 when the hinge seat 145 rotates relative to the base 144, ensuring that the pitch angle of the rotating surface 1411 can be adjusted normally.

[0056] Furthermore, such as Figures 7 to 14 As shown, in some embodiments, the blocking structure 13 includes a main baffle 131 and two telescopic baffles 132. Figure 1 and Figure 2 As shown, the main baffle 131 is fixed in front of the AGV chassis 11 and faces forward. The main baffle 131 and the telescopic baffle 132 are arranged in parallel. The telescopic baffle 132 slides with the main baffle 131, and the sliding direction is a left-right direction orthogonal to the forward direction.

[0057] like Figure 1 As shown, when the pig-driving passage is narrow, the telescopic baffle 132 retracts and overlaps with the main baffle 131; as Figure 2 As shown, when the pig-driving passage is wide, the telescopic baffle 132 extends. By adjusting the telescopic length of the telescopic baffle 132, it can be adapted to pig-driving passages of different widths.

[0058] In some embodiments, such as Figures 10 to 14 As shown, the blocking structure 13 also includes a main back plate 15, which is fixedly disposed relative to the AGV chassis 11. The main back plate 15 and the main baffle 131 are arranged parallel to each other at intervals, and the telescopic baffle 132 is located between the main back plate 15 and the main baffle 131. Figure 13 and Figure 14As shown, a support plate 151 is provided at the top of the main back plate 15, and the support plate 151 is connected to the top of the main baffle 131. Multiple reinforcing support members 152 are arranged at intervals in front of the main back plate 15, and each reinforcing support member 152 connects the main back plate 15 and the main baffle 131. The main baffle 131 is connected to the front of the main back plate 15 through the support plate 151 and the multiple reinforcing support members 152. Furthermore, when the two telescopic baffles 132 are in the retracted state, the two telescopic baffles 132 are spaced apart, and the multiple reinforcing support members 152 are all located between the two telescopic baffles 132. The support plate 151, located above the telescopic baffles 132, does not obstruct the telescopic baffles 132 from extending or retracting. Based on the interval between the two telescopic baffles 132 when they are in the retracted state, and the fact that each reinforcing support member 152 is located within the space formed by this interval, each reinforcing support member 152 also does not obstruct the telescopic baffles 132 from extending or retracting.

[0059] The front of the main back plate 15 is provided with multiple heavy-duty slide rails 133, each of which is guided in the left-right direction. A slide rail connecting plate 1321 is provided on the telescopic baffle 132 at a position corresponding to each heavy-duty slide rail 133. The telescopic baffle 132 is slidably engaged with the heavy-duty slide rail 133 via the slide rail connecting plate 1321. The main back plate 15 and the main baffle 131 are in a fixed relative position. When the telescopic baffle 132 slides relative to the main back plate 15 in the left-right direction, it also slides relative to the main baffle 131.

[0060] Specifically, such as Figure 13 As shown, a slide rail mounting plate 154 is provided on the front of the main back plate 15, and the heavy-duty slide rail 133 is mounted on the slide rail mounting plate 154, thereby fixing the heavy-duty slide rail 133 relative to the main back plate 15.

[0061] During the process of driving livestock, the livestock will collide with the barrier structure 13, and the barrier structure 13 may collide with the side walls. The telescopic baffle 132 cooperates with the main back plate 15 through the heavy-duty slide rail 133 to improve the overall impact resistance of the barrier structure 13.

[0062] like Figure 10As shown, in some embodiments, the blocking structure 13 further includes a telescopic drive unit, which includes a linear guide rail 134, a slide 135, a connecting rod 136, and a drive unit 137. The linear guide rail 134 is fixed relative to the AGV chassis 11, and the guiding direction of the linear guide rail 134 is the forward direction of the driving robot 10. The slide 135 is slidably engaged on the linear guide rail 134, and the drive unit 137 is used to drive the slide 135 to slide back and forth on the linear guide rail 134. The slide 135 is hinged to each of the telescopic baffles 132 through at least one connecting rod 136, so that when the slide 135 slides on the linear guide rail 134, the telescopic baffle 132 can extend and retract relative to the main baffle 131.

[0063] like Figure 10 As shown, the two ends of the connecting rod 136 are hinged to the slide table 135 and the telescopic baffle 132 respectively. The connecting rod 136 moves in a plane parallel to the guiding direction of the linear guide rail 134 and the telescopic direction of the telescopic baffle 132. When the drive unit 137 drives the slide table 135 to slide on the linear guide rail 134, the connecting rod 136 rotates relative to both the slide table 135 and the telescopic baffle 132. During the sliding process of the slide table 135, the connecting rod 136 extends and retracts with the telescopic baffle 132.

[0064] In one embodiment, the drive unit includes a motor and a lead screw. The lead screw and the slide 135 are threaded together to form a lead screw-nut structure. The axial direction of the lead screw is consistent with the guiding direction of the linear guide 134. The motor is used to drive the lead screw to rotate. The motor housing is fixed relative to the linear guide 134. After the motor is started, the lead screw rotates, and the slide 135 moves along the axial direction of the lead screw, thereby adjusting the extension and retraction state of the telescopic baffle 132.

[0065] like Figure 13 and Figure 14 As shown, the slide table 135 and the telescopic baffle 132 are located on opposite sides of the main back plate 15. The main back plate 15 has a clearance hole 153 for the connecting rod 136 to pass through, so that the connecting rod 136 can act between the slide table 135 and the telescopic baffle 132. During the sliding of the slide table 135 on the linear guide rail 134, the connecting rod 136 rotates. The clearance hole 153 is large enough to ensure that the connecting rod 136 will not interfere with the main back plate 15 during rotation.

[0066] like Figure 10 and Figure 15As shown, the connecting rods 136 hinged to the two telescopic baffles 132 are the left connecting rod and the right connecting rod, respectively. The positions on the slide table 135 that are hinged to the aforementioned two connecting rods 136 are arranged at intervals along the telescopic direction of the telescopic baffles 132, with a distance Δ between them. When both telescopic baffles 132 are retracted, the angle between the straight line to which the left connecting rod belongs and the straight line to which the right connecting rod belongs is θ1, and the width of the two telescopic baffles 132 is L1. When the slide table 135 slides forward a distance L on the linear guide rail 134 to its limit position, the angle between the straight line to which the left connecting rod belongs and the straight line to which the right connecting rod belongs is θ2, and the two telescopic baffles 132 extend, at which point the width of the two telescopic baffles 132 is L2.

[0067] Existing formula:

[0068]

[0069] Where H is the length of link 136.

[0070] Generally, the width L1 of the two telescopic baffles 132 when retracted is determined by the width of the main baffle 131. After the connecting rod 136 is hinged to the slide table 135 and the telescopic baffles 132, the spacing Δ is fixed. The stroke L of the slide table 135 can be calculated by the width L2 of the two telescopic baffles 132 when extended, and then the specifications of the linear guide rail 134 can be determined.

[0071] Furthermore, in some embodiments, when the telescopic baffle 132 extends or retracts relative to the main baffle 131, the angle between the straight line to which the left connecting rod belongs and the straight line to which the right connecting rod belongs is 30° to 150°, and the width of the two telescopic baffles 132 is 700mm to 1300mm to accommodate pig-driving passages of different widths.

[0072] When both telescopic baffles 132 are in the retracted state, the angle θ1 between the straight line to which the left connecting rod belongs and the straight line to which the right connecting rod belongs is 30°, and the width L1 of the two telescopic baffles 132 is 700mm.

[0073] When both telescopic baffles 132 are in the extended state, the angle θ2 between the straight line to which the left connecting rod belongs and the straight line to which the right connecting rod belongs is 150°, and the width L2 of the two telescopic baffles 132 is 1300mm.

[0074] In one specific embodiment, when the telescopic baffle 132 is in the extended state, the angle θ2 between the straight line to which the left connecting rod belongs and the straight line to which the right connecting rod belongs is greater than 90°.

[0075] like Figure 15 As shown, when the extended telescopic baffle 132 is impacted by the wall, assuming the impact force is F1, the impact force F2 on the slide table 135 is:

[0076]

[0077] Therefore, when the telescopic baffle 132 is in the extended state and the included angle θ2 between the straight line where the left connecting rod is located and the straight line where the right connecting rod is located is greater than 90°, F2 < F1, and the impact force F2 received by the sliding table 135 is less than the impact force F1 received by the telescopic baffle 132, which plays a role in protecting the internal transmission structure of the driving robot 10.

[0078] Further, in some embodiments, such as Figure 7 and Figure 10 the blocking structure 13 further includes a main frame 138 and a housing 139. The main frame 138 is disposed on the AGV chassis 11, and the main frame 138 is connected to the back surface of the main baffle 131. Specifically, it includes that the main frame 138 is directly connected to the main baffle 131, and also includes that the main frame 138 is indirectly connected to the main baffle 131. For example, as Figure 13 shown, the main frame 138 is connected to the main back plate 15, and the main back plate 15 is connected to the main baffle 131 through a support plate 151 and a plurality of reinforcing support members 152, so that the main baffle 131 is fixed relative to the main frame 138. The linear guide rail 134 is connected to the main frame 138, and the housing 139 surrounds the main frame 138. The whip driving structure 14 is installed on the housing 139.

[0079] The main frame 138 supports the main baffle 131 and the telescopic baffle 132 in front of the AGV chassis 11, and the whip driving structure 14 is indirectly disposed on the AGV chassis 11 through the main frame 138.

[0080] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0082] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0083] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0084] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0085] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A repelling robot, characterized in that, The utility model relates to an AGV (Automatic Guided Vehicle) for driving and herding livestock, comprising: an AGV chassis; a blocking structure arranged on the AGV chassis and located at least partially in front of the AGV chassis for blocking the backflow of livestock; a whipping herding structure arranged on the AGV chassis and located in front of the AGV chassis, the whipping herding structure comprising a herding whip, the whipping range of the herding whip being in front of the upper part of the blocking structure; the whipping herding structure comprising a rotary drive arranged on the AGV chassis and a blade mounted on the rotary shaft of the rotary drive, the length direction of the blade intersecting the axial direction of the rotary shaft, the herding whip being mounted on the end of the blade away from the rotary shaft; wherein the area swept by the herding whip in rotation is defined as the rotation plane of the herding whip, the rotation plane intersecting the forward direction, the rotation plane being arranged obliquely relative to the longitudinal plane.

2. The repelling robot according to claim 1, characterized in that, The herding robot further comprises a navigation system arranged on the AGV chassis, the navigation system being capable of traveling along a predetermined route according to instructions.

3. The repelling robot according to claim 1, wherein, The whipping herding structure further comprises a base arranged on the AGV chassis and a hinged seat hinged to the base, the rotary drive being connected to the hinged seat, the hinged seat being capable of changing the pitch angle of the rotation plane of the herding whip when rotating relative to the base.

4. The repelling robot according to claim 3, characterized in that, The middle part of the blade is connected to the rotary shaft, and the herding whip passes through both ends of the blade; and / or, the whipping herding structure further comprises a protective cover, the base and the hinged seat being located in the protective cover, the rotary drive being partially located in the protective cover, and the rotary shaft passing through the protective cover.

5. The repelling robot according to any one of claims 1 to 4, characterized in that, The blocking structure comprises a main baffle and two telescopic baffles, the main baffle being fixed in front of the AGV chassis and facing forward, the main baffle and the telescopic baffles being arranged in parallel, the telescopic baffles being in sliding fit with the main baffle in the left-right direction orthogonal to the forward direction.

6. The repelling robot according to claim 5, characterized in that, The blocking structure further comprises a main backboard fixedly arranged relative to the AGV chassis, the main backboard being arranged in parallel and spaced apart from the main baffle, the telescopic baffles being located between the main backboard and the main baffle, the top end of the main backboard being provided with a support plate connected to the top of the main baffle, the front of the main backboard being provided with a plurality of spaced-apart reinforcing supports, each of the reinforcing supports connecting the main backboard and the main baffle, the plurality of reinforcing supports being located between the two telescopic baffles when the two telescopic baffles are in the retracted state; the front of the main backboard is provided with a plurality of heavy-load slide rails, each of the heavy-load slide rails being in the left-right direction, each of the positions on the telescopic baffle corresponding to each of the heavy-load slide rails being provided with a slide rail connecting plate, the telescopic baffle and the heavy-load slide rail being in sliding fit through the slide rail connecting plate.

7. The repelling robot according to claim 5, wherein, The blocking structure further comprises a telescopic driving unit, the telescopic driving unit comprises a linear guide rail, a sliding table, a connecting rod and a driving unit, the linear guide rail is fixed relative to the AGV chassis, the guiding direction of the linear guide rail is the forward direction of the robot, the sliding table is slidingly fitted on the linear guide rail, the driving unit is used to drive the sliding table to slide forward and backward on the linear guide rail, the sliding table and each telescopic baffle are connected through at least one connecting rod, so that when the sliding table slides on the linear guide rail, the telescopic baffle can be telescoped relative to the main baffle.

8. The repelling robot according to claim 7, characterized in that, The connecting rods connected with the two telescopic baffles are left connecting rod and right connecting rod respectively, the angle between the straight line to which the left connecting rod belongs and the straight line to which the right connecting rod belongs is 30°-150° when the telescopic baffles are telescopically moved relative to the main baffle, and the width of the two telescopic baffles is 700mm-1300mm.

9. The repelling robot according to claim 7, wherein, The blocking structure further comprises a main frame and a shell, the main frame is arranged on the AGV chassis, the main frame is connected with the back of the main baffle, the linear guide rail is connected with the main frame, the shell surrounds the outside of the main frame, and the whipping driving structure is mounted on the shell.

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