Pushing robot

Abstract

The present invention provides a material pushing robot, which relates to the technical field of livestock equipment. The material pushing robot includes a walking chassis, a rotating drum, an upper cover, a rotating mechanism, and a lifting mechanism. A fixed shaft is fixedly connected to the walking chassis. The rotating mechanism includes a rotating shaft and a rotating drive assembly. The rotating shaft is sleeved on the outer peripheral side of the fixed shaft, and the rotating shaft is provided with a spline groove section along its axial direction. The outer peripheral side of the spline groove section is sleeved with a spline sleeve that rotates synchronously with it, and the spline sleeve is configured to be able to move along the axial direction of the spline groove section. The inner wall of the rotating drum is fixedly connected to the spline sleeve through a suspension assembly. The lifting mechanism includes a follower and a lifting drive assembly. The follower is connected to the spline sleeve. Since the distance between the rotating drum and the ground can be adjusted, the rotating drum can be brought into contact with the ground to ensure that the material pushing robot keeps rotating during the forward movement to achieve the material pushing operation. The rotating drum can also be separated from the ground to avoid friction with the ground to achieve the transfer operation of the material pushing robot.

Description

Technical Field

[0001] The present invention relates to the technical field of animal husbandry equipment, in particular to a material pushing robot. Background Art

[0002] As a major pillar of agricultural production, animal husbandry, connecting to crop production and processing, plays a crucial role in agricultural production. Applying and promoting automation technology in animal husbandry, enabling automated feeding, scientific management, information-based services, and full traceability, is crucial for improving resource utilization and labor productivity, while also enhancing output, quality, and safety.

[0003] When feeding livestock, farms often place grass and other feed outside the enclosure fences, and the livestock peek through the gaps in the fences to eat. Due to the livestock's eating habits, some feed is pushed and scattered away from the fence during the feeding process. In order to meet the livestock's feeding needs, the feed needs to be pushed back to a position close to the fence to facilitate the livestock's feeding.

[0004] Because feed is available 24 / 7 on livestock farms, manual feeding is required every hour. This is labor-intensive and difficult for breeders to strictly follow. In most cases, feeding may only be done once every several hours, especially on cold nights, when it is difficult to ensure a consistent feeding frequency. To address this problem, existing technologies use feeding robots. These robots make contact with the feed and push the scattered feed closer to the fence, making it easier for livestock to eat. However, some existing feeding robots are unable to simultaneously rotate the drum to push the feed and raise and lower the drum. Other feeding robots use complex mechanisms to achieve both rotational pushing and raising and lowering operations, but these differ in structure and function. Summary of the Invention

[0005] The purpose of the present invention is to provide a material pushing robot, in which the distance between the rotating drum and the ground can be adjusted. On the one hand, the rotating drum can be brought into contact with the ground to ensure that the material pushing robot keeps rotating during the forward process to realize the material pushing operation. On the other hand, the rotating drum can be separated from the ground to avoid friction with the ground to realize the transfer operation of the material pushing robot.

[0006] In a first aspect, the present invention provides a material pushing robot, comprising: a walking chassis, a rotating drum pivotally connected to the walking chassis and covering the outer circumference thereof, an upper cover provided on the rotating drum, a rotating mechanism and a lifting mechanism for respectively driving the rotating drum to rotate and lift;

[0007] A vertically arranged fixed shaft is fixedly connected to the walking chassis;

[0008] The rotating mechanism includes a rotating shaft and a rotating drive assembly connected to the rotating shaft; the rotating shaft is sleeved on the outer circumference of the fixed shaft, the rotating shaft is provided with a spline groove section along its axial direction, the outer circumference of the spline groove section is sleeved with a spline sleeve that rotates synchronously with the spline groove section, and the spline sleeve is configured to be able to move along the axial direction of the spline groove section; the rotating drive assembly is mounted on the walking chassis and is used to drive the rotating shaft to rotate relative to the fixed shaft;

[0009] The inner wall of the drum is fixedly connected to the spline sleeve via a suspension assembly;

[0010] The lifting mechanism includes a follower and a lifting drive assembly that is transmission-connected to the follower; the follower is connected to the spline sleeve; the lifting drive assembly is installed on the walking chassis, and the lifting drive assembly is used to drive the follower to rise and fall to control the distance between the rotating drum and the shelf surface.

[0011] Furthermore, the end of the rotating shaft opposite to the spline groove section is a bevel gear disc portion;

[0012] The rotary drive assembly includes a rotary motor and a bevel gear transmission-connected to the rotary motor;

[0013] The bevel gear disc portion is meshedly connected with the bevel gear;

[0014] The rotating motor is mounted on the walking chassis.

[0015] Furthermore, a mounting sleeve is provided on the outer peripheral side of the rotating shaft through a bearing fixing sleeve, and the bearing is located between the spline groove section and the bevel gear disc portion;

[0016] The upper end of the mounting sleeve is fixedly connected to the walking chassis through multiple sets of fasteners.

[0017] Furthermore, the lifting drive assembly includes a lifting motor and a gear transmission-connected to the lifting motor;

[0018] The walking chassis is provided with a rack in vertical direction and in sliding engagement therewith, and the rack is meshedly connected with the gear;

[0019] The follower is fixedly connected to the top of the rack, and the follower abuts against the bottom surface of the spline sleeve.

[0020] Furthermore, the outer peripheral surface of the rotating drum is a conical surface with a top circle diameter smaller than a bottom circle diameter;

[0021] The bottom surface of the rotating drum is an inclined plane which forms a preset angle with the placing surface.

[0022] Furthermore, the suspension assembly includes a plurality of cantilevers, each of which extends toward the center of the drum and is fixedly connected to the same annular sleeve; a reinforcing arm is connected between two adjacent cantilevers, and the plurality of reinforcing arms form a rectangular structure;

[0023] The diameter of the spline sleeve increases from top to bottom along its axial direction to form at least one set of step surfaces;

[0024] The annular sleeve is buckled on the spline sleeve, and the inner bottom surface of the annular sleeve is in contact with and fixed to one set of step surfaces.

[0025] Furthermore, the rotating drum includes an upper ring body, a lower ring body and a plurality of support arms connected therebetween;

[0026] Two adjacent support arms are connected by an arc frame and are covered with a shell plate on the circumference.

[0027] Furthermore, a top plate is provided inside the drum near the drum mouth, and the top plate is fixedly connected to the fixed shaft;

[0028] The upper cover is fixedly connected to the top plate via a connecting rod mechanism;

[0029] The connecting rod mechanism includes two first lifting rods arranged in parallel and two second lifting rods arranged in parallel;

[0030] One end of each of the first lifting rod and the second lifting rod is hinged to the top plate, and the other end of each of the first lifting rod and the second lifting rod is hinged to the inner top surface of the upper cover;

[0031] The length of the first lifting rod is smaller than that of the second lifting rod, so that the upper cover can be flipped open or closed relative to the rotating drum.

[0032] Furthermore, it also includes an anti-collision mechanism;

[0033] The anti-collision mechanism includes an anti-collision ring, a suspension rod, an adapter, a stud and a detection assembly;

[0034] The anti-collision ring is made of a hard material and is movably connected to the periphery of the rotating drum;

[0035] The suspension rods are arranged in a plurality of groups at intervals along the circumference of the anti-collision ring;

[0036] The stud is connected to one end of the boom away from the anti-collision ring;

[0037] The adapter is sleeved on the stud, and the adapter has a movable space, and the movable space is configured to enable the stud to move in its radial direction when subjected to a collision force;

[0038] The detection component is used to detect the radial position deviation of the anti-collision ring to control the start and stop of the rotating drum.

[0039] Furthermore, the walking chassis includes a chassis body, two driving wheels pivotally connected to the chassis body, and a universal wheel;

[0040] The two driving wheels and the one universal wheel are arranged in a triangle;

[0041] The driving wheel and the universal wheel are configured to be driven independently. Beneficial effects

[0042] The pusher robot of the present invention can maintain rotation during its forward movement through the cooperation of a walking chassis and a rotating mechanism, thereby realizing a pushing operation; wherein, the rotating mechanism includes a rotating shaft, which is sleeved on the outer circumference of the fixed shaft, and the outer circumference of the spline groove section is sleeved with a spline sleeve that rotates synchronously with the fixed shaft, and the inner wall of the rotating drum is fixedly connected to the spline sleeve through a suspension assembly. On the one hand, the rotating drive assembly drives the rotating shaft to rotate, so that the rotating shaft can drive the spline sleeve and the rotating drum to rotate in turn through the spline groove section, thereby realizing the pushing operation of the rotating drum; on the other hand, the spline sleeve is configured to be able to move axially along the spline groove section, and the follower is connected to the spline sleeve. Therefore, the follower can be driven up and down by the lifting drive assembly so that the follower drives the spline sleeve to move axially along the spline groove section. With such an arrangement, by adjusting the distance between the rotating drum and the shelf surface, the bottom surface of the rotating drum can be made to contact the shelf surface, so that friction is generated between the rotating drum and the shelf surface, thereby realizing the pushing operation, and the bottom surface of the rotating drum can be separated from the shelf surface, so as to facilitate the transfer of the pusher robot between various sites.

[0043] In addition, by adopting the aforementioned rotating shaft structure, through the provision of the spline groove section and the spline sleeve, not only the rotation operation of the rotating drum can be realized, but also the spline sleeve can move axially along the spline groove section, and the lifting operation of the rotating drum can be realized. Fewer parts are involved, the overall structure is relatively simple, and the layout is compact and reasonable. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 A schematic structural diagram of a material pushing robot provided in an embodiment of the present invention;

[0046] Figure 2 A front view of a material pushing robot provided in an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of a partial structure of a material pushing robot provided by an embodiment of the present invention;

[0048] Figure 4 The second schematic diagram of the partial structure of the material pushing robot provided by an embodiment of the present invention;

[0049] Figure 5 The third schematic diagram of a partial structure of the material pushing robot provided by an embodiment of the present invention;

[0050] Figure 6 It is one of the structural diagrams of the suspension assembly;

[0051] Figure 7 This is the second structural diagram of the suspension assembly;

[0052] Figure 8 The fourth schematic diagram of a partial structure of the material pushing robot provided by an embodiment of the present invention;

[0053] Figure 9 The fifth schematic diagram of the partial structure of the material pushing robot provided by the embodiment of the present invention;

[0054] Figure 10 It is a structural diagram of the rotating shaft;

[0055] Figure 11 Schematic diagram of the connection structure between the drum and the anti-collision mechanism;

[0056] Figure 12 for Figure 11 A local enlarged schematic diagram of point A shown;

[0057] Figure 13 This is a bottom view of the upper cover and the anti-collision mechanism;

[0058] Figure 14 This is a schematic diagram of the upper cover of the material pushing robot provided by an embodiment of the present invention in a flipped-open state.

[0059] icon:

[0060] 100-walking chassis; 110-chassis body; 120-driving wheel; 130-universal wheel; 140-fixed shaft; 150-top plate;

[0061] 200-rotating drum; 210-upper ring; 220-lower ring; 230-support arm; 240-arc frame;

[0062] 300-top cover;

[0063] 410-cantilever; 420-annular sleeve; 430-reinforcement arm;

[0064] 500-rotating mechanism; 510-rotating shaft; 520-spline sleeve; 530-rotating motor; 540-bevel gear; 550-mounting sleeve; 511-spline groove section; 512-bevel gear disc;

[0065] 600-lifting mechanism; 610-lifting motor; 620-gear; 630-rack; 640-follower;

[0066] 710-anti-collision ring; 720-suspender rod; 730-adapter; 740-stud; 750-detection component;

[0067] 810-first lifting rod; 820-second lifting rod. DETAILED DESCRIPTION

[0068] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0069] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0070] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition or explanation in subsequent drawings.

[0071] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like indicate positions or locations based on the positions shown in the accompanying drawings, or the positions or locations in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0072] In addition, terms such as "horizontal" and "vertical" do not mean that the components must be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", not that the structure must be completely horizontal, but can be slightly tilted.

[0073] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0074] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0075] Reference Figures 1 to 4 This embodiment provides a material pushing robot, which includes a walking chassis 100, a rotating drum 200 pivotally connected to the walking chassis 100 and covering the outer circumference thereof, and an upper cover 300 covering the rotating drum 200; a vertically arranged fixed shaft 140 is fixedly connected to the walking chassis 100.

[0076] Specifically, refer to Figure 3 or Figure 4 The walking chassis 100 includes a chassis body 110, two driving wheels 120 pivotally connected to the chassis body 110, and a universal wheel 130; the two driving wheels 120 and the universal wheel 130 are arranged in a triangle; the driving wheels 120 and the universal wheel 130 are configured to be driven independently.

[0077] Simply put, the two driving wheels 120 are dual-wheel drive, and each wheel is equipped with a separate servo motor, which can accurately control the speed and direction of each wheel; when the two servo motors run in the same direction and speed, the pusher robot can move forward and backward; when the two servo motors are not synchronized, the pusher robot can change direction; when the two servo motors run at the same speed and in opposite directions, the pusher robot can rotate in place.

[0078] Reference Figure 2The outer circumferential surface of the rotating drum 200 is a conical surface with a top circle diameter smaller than a bottom circle diameter, and the bottom surface of the rotating drum 200 is an inclined plane with a preset angle to the shelf surface, that is, it is installed at an angle. Such a setting can make the overall appearance of the pushing robot more beautiful. At the same time, when the surface of the rotating drum 200 is subjected to thrust, such as the thrust of feed, due to the inclined installation, after the thrust is decomposed, the rotating drum 200 will be subjected to a downward thrust, which increases the pressure between the rotating drum 200 and the ground, thereby increasing the friction and improving the pushing effect of the pushing robot.

[0079] Reference Figures 5 to 7 The suspension assembly includes multiple cantilevers 410, which all extend toward the center of the drum 200 and are fixedly connected to the same annular sleeve 420; a reinforcing arm 430 is connected between two adjacent cantilevers 410, and the multiple reinforcing arms 430 form a rectangular structure. This arrangement can ensure that the suspension assembly has higher strength and increase the stability of the connection between the suspension assembly and the drum 200.

[0080] Reference Figure 4 The rotating drum 200 includes an upper ring body 210, a lower ring body 220 and a plurality of support arms 230 connected therebetween; two adjacent support arms 230 are connected by an arc frame 240 and are covered with a shell plate on the circumference. This arrangement can ensure that the rotating drum 200 has high strength and can withstand large thrust or impact force.

[0081] Based on the above embodiments, Figures 8 to 10 The pusher robot also includes a rotating mechanism 500 and a lifting mechanism 600 for driving the drum 200 to rotate and lift respectively; the rotating mechanism 500 includes a rotating shaft 510 and a rotating drive assembly connected to the rotating shaft 510; the rotating shaft 510 is sleeved on the outer peripheral side of the fixed shaft 140, and the rotating shaft 510 can rotate relative to the fixed shaft 140. The rotating shaft 510 is provided with a spline groove section 511 along its axial direction, and the outer peripheral side of the spline groove section 511 is sleeved with a spline sleeve 520 that rotates synchronously with it, and the spline sleeve 520 is configured to be able to move along the spline groove. Axial movement of the slot section 511; the rotation drive assembly is installed on the walking chassis 100, and is used to drive the rotating shaft 510 to rotate relative to the fixed shaft 140; the inner wall of the rotating drum 200 is fixedly connected to the spline sleeve 520 through the suspension assembly; the lifting mechanism 600 includes a follower 640 and a lifting drive assembly that is transmission-connected to the follower 640; the follower 640 is connected to the spline sleeve 520; the lifting drive assembly is installed on the walking chassis 100, and the lifting drive assembly is used to drive the follower 640 to rise and fall to control the distance between the rotating drum 200 and the shelf surface.

[0082] It should be noted that the spline groove section 511 is provided with a plurality of key grooves at intervals along the circumferential direction, and correspondingly, the spline sleeve 520 is provided with a plurality of ribs at intervals along the circumferential direction for plugging and fitting with the key grooves.

[0083] The pusher robot of this embodiment can keep rotating during its forward movement by cooperating with the walking chassis 100 and the rotating mechanism 500, thereby realizing the pushing operation; wherein, the rotating mechanism 500 includes a rotating shaft 510, which is fixedly sleeved on the outer peripheral side of the fixed shaft 140, and the outer peripheral side of the spline groove section 511 is sleeved with a spline sleeve 520 that rotates synchronously with it, and the inner wall of the rotating drum 200 is fixedly connected to the spline sleeve 520 through the suspension assembly. On the one hand, the rotating drive assembly drives the rotating shaft 510 to rotate, which can make the rotating shaft 510 drive the spline sleeve 520 and the rotating drum 200 to rotate in turn through the spline groove section 511, thereby realizing the rotating drum 200 Pushing operation; on the other hand, the spline sleeve 520 is configured to be able to move axially along the spline groove section 511, and the follower 640 is connected to the spline sleeve 520. Therefore, the follower 640 can be driven to rise and fall by the lifting drive assembly, so that the follower 640 drives the spline sleeve 520 to move axially along the spline groove section 511. With such an arrangement, by adjusting the distance between the rotating drum 200 and the shelf surface, the bottom surface of the rotating drum 200 can be made to contact the shelf surface, so that friction is generated between the rotating drum 200 and the shelf surface to realize the pushing operation, and the bottom surface of the rotating drum 200 can be separated from the shelf surface to facilitate the transfer of the pushing robot between various sites.

[0084] In addition, by adopting the aforementioned rotating shaft 510 structure, through the provision of the spline groove section 511 and the spline sleeve 520, not only the rotation operation of the rotating drum 200 can be realized, but also the spline sleeve 520 can move axially along the spline groove section 511, and the lifting operation of the rotating drum 200 can be realized. Fewer parts are involved, the overall structure is relatively simple, and the layout is compact and reasonable.

[0085] In this embodiment, the ends of the rotating shaft 510 opposite to the spline groove section 511 are integrally provided with a bevel gear disc portion 512; the rotating drive assembly includes a rotating motor 530 and a bevel gear 540 that is transmission-connected to the rotating motor 530; the bevel gear disc portion 512 is meshedly connected to the bevel gear 540; and the rotating motor 530 is installed on the walking chassis 100.

[0086] During operation, starting the rotating motor 530 can drive the bevel gear 540 to rotate. Since the bevel gear disc portion 512 is meshed with the bevel gear 540 , the rotating shaft 510 can be driven to rotate through the bevel gear disc portion 512 , thereby realizing the rotation of the drum 200 .

[0087] The aforementioned rotating shaft 510 adopts an integrated shaft setting, which can meet the requirements of rotation and lifting, making the overall structure simpler. At the same time, the use of an integrated shaft can improve the installation strength of the rotating drum 200 on the rotating shaft 510 and improve the bearing capacity of the rotating shaft 510.

[0088] Combine Figure 5 、 Figures 7 to 9The diameter of the spline sleeve 520 increases from top to bottom along its axial direction to form at least one set of step surfaces; the annular sleeve 420 is buckled on the spline sleeve 520, and the inner bottom surface of the annular sleeve 420 is in contact with and fixed to one set of step surfaces. Such an arrangement can achieve a limited connection between the two while adopting surface-to-surface contact, which can also improve the connection stability between the two.

[0089] Furthermore, a mounting sleeve 550 is provided on the outer peripheral side of the rotating shaft 510 through a bearing fixing sleeve, and the bearing is located between the spline groove section 511 and the bevel gear disc portion 512; the upper end of the mounting sleeve 550 is fixedly connected to the walking chassis 100 through multiple sets of fasteners.

[0090] For example, the bearings can be provided in one or two sets. The chassis body 110 has a shaft hole for the rotating shaft 510 to pass through. A bearing is provided between the rotating shaft 510 and the mounting sleeve 550 to enable relative rotation therebetween. Furthermore, the mounting sleeve 550 provides stable support for the rotating shaft 510 by the chassis body 110.

[0091] Combine Figure 8 and Figure 9 The lifting drive assembly includes a lifting motor 610 and a gear 620 that is transmission-connected to the lifting motor 610; the walking chassis 100 is vertically provided with a rack 630 that slides with it, and the rack 630 is meshed with the gear 620; the follower 640 is fixedly connected to the top of the rack 630, and the follower 640 abuts against the bottom surface of the spline sleeve 520.

[0092] During operation, starting the lifting motor 610 can drive the gear 620 to rotate, thereby driving the rack 630 to move up and down vertically. Since the follower 640 is in contact with the bottom surface of the spline sleeve 520, during the process of the rack 630 moving vertically upward, the follower 640 can push the spline sleeve 520 to move upward along the spline groove section 511, thereby achieving the lifting of the rotating drum 200. At this time, the distance between the rotating drum 200 and the shelf surface becomes larger; conversely, the rack 630 moves vertically downward, and during the downward movement of the follower 640, the spline sleeve 520 moves downward along the spline groove section 511, thereby achieving the downward movement of the rotating drum 200. At this time, the distance between the rotating drum 200 and the shelf surface becomes smaller.

[0093] Among them, in the process of the follower 640 driving the spline sleeve 520 to move upward or downward along the spline groove section 511, since the inner bottom surface of the annular sleeve 420 is in contact with and fixed to one of the sets of step surfaces, that is, surface contact is adopted, at the same time, the spline sleeve 520 is slidingly connected to the spline groove section 511, and the groove on the spline groove section 511 can guide the ribs on the spline sleeve 520. Through the above-mentioned structure, a relatively balanced force can be applied to the rotating drum 200 to ensure that the rotating drum 200 can move stably during the ascent or descent process without shaking, thereby improving the lifting effect.

[0094] Combine Figures 11 to 13 The pushing robot also includes an anti-collision mechanism; the anti-collision mechanism includes an anti-collision ring 710, a suspension rod 720, an adapter 730, a stud 740 and a detection assembly 750; the anti-collision ring 710 is made of a hard material and is movably connected to the periphery of the rotating drum 200; the suspension rod 720 is arranged in multiple groups at circumferential intervals along the anti-collision ring 710; the stud 740 is connected to one end of the suspension rod 720 away from the anti-collision ring 710; the adapter 730 is sleeved on the stud 740, and the adapter 730 has an active space, which is configured to enable the stud 740 to move along its radial direction when subjected to a collision force; the detection assembly 750 is used to detect the radial position offset of the anti-collision ring 710 to control the start and stop of the rotating drum 200.

[0095] The plurality of booms 720 and adapters 730 are movably connected to the periphery of the drum 200. Since the adapter 730 has an activity space, the activity space is configured to enable the stud 740 to move radially when subjected to a collision force. Therefore, when a person, livestock or other machine collides with the pushing robot (drum 200), the anti-collision ring 710 will first be touched. At this time, the anti-collision ring 710 will drive the stud 740 on the boom 720 to move radially within the activity space of the adapter 730, causing the plurality of booms 720 to deviate from their original positions. Similarly, the anti-collision ring 710 will also deviate from its original position. Since the detection component 750 can detect the radial position deviation of the anti-collision ring 710, the robot can be controlled to stop running after the deviation information is detected, thereby improving the safety of the robot during operation.

[0096] In this embodiment, the stud 740 and the suspension rod 720 are independently arranged; the stud 740 is passed through the movable space, and the two ends of the stud 740 are fixed by screwing the locking parts to form a limit in the axial direction of the suspension rod 720; the stud 740 can be used to realize the movable installation of the suspension rod 720 on the adapter 730, and the entire installation process is relatively simple and quick.

[0097] Specifically, during installation, the stud 740 may be first inserted into the mounting holes on the movable space and the suspension rod 720 , and then nuts may be installed at both ends of the stud 740 for locking.

[0098] In this embodiment, the suspension rods 720 are arranged in multiple groups at circumferential intervals along the anti-collision ring 710, which can improve the uniformity of force on the anti-collision ring 710; at the same time, the anti-collision ring 710 is made of hard material, which can delay or even avoid damage to the anti-collision ring 710, facilitate maintenance, and extend the service life of the anti-collision ring 710.

[0099] Exemplarily, the suspension rods 720 are provided in four groups. In a state where no collision force is applied, the four groups of suspension rods 720 can form a stable support for the anti-collision ring 710 .

[0100] Furthermore, the anti-collision mechanism also includes a compression spring that is at least partially arranged in the movable space. The compression spring is used to radially clamp the stud 740 so that it maintains a fixed posture when it is not subjected to collision force. Such a setting can prevent the anti-collision ring 710 from shifting during the rotation of the rotating drum 200, thereby causing a false alarm; through the setting of the compression spring, the anti-collision ring 710 will only be offset when it is subjected to external force collision.

[0101] In one embodiment of the present application, the compression springs are arranged in multiple groups at circumferential intervals along the stud 740; the adapter 730 has multiple adjustment holes that are connected to the activity space at circumferential intervals, and an adjustment rod is provided in the adjustment hole; one end of the compression spring is connected to the adjustment rod, and the other end is pressed against the outer wall of the stud 740.

[0102] During specific use, by moving the adjusting rod inward, the compression spring can be compressed and the force between the two can be increased. Conversely, by moving the adjusting rod outward, the compression of the compression spring can be reduced and the force between the two can be reduced, thereby achieving the adjustment of the compression amount of the compression spring.

[0103] In this embodiment, the adjusting rod is threadedly connected to the adjusting hole. Such an arrangement can facilitate adjustment of the compression amount of the compression spring. During specific adjustment, the adjustment operation can be completed by simply screwing the adjusting rod.

[0104] The adjusting rods in this embodiment are arranged in three groups, and correspondingly, three adjusting holes are also arranged. The three adjusting holes are evenly arranged and can apply relatively balanced forces.

[0105] Furthermore, the detection assembly 750 includes a detection sensor and a detection plate. The detection plate is fixedly connected to the suspension rod 720 and is provided with a detection hole for coaxial installation with the detection sensor.

[0106] The specific detection principle is: when the detection sensor is coaxially arranged with the detection hole of the detection plate, no signal is output; when the anti-collision ring 710 is collided, the positions of the anti-collision ring 710 and the suspension rod 720 are offset. Since the detection plate is fixedly connected to the suspension rod 720, the position of the detection hole on the detection plate will be offset, causing the detection sensor and the detection hole of the detection plate to be not coaxial. At this time, a signal will be output, and the robot control system will receive the signal to control the robot to stop running.

[0107] In this embodiment, a gap of 4-5 mm may be left between the anti-collision ring 710 and the rotating drum 200. Such an arrangement allows the anti-collision ring 710 to have a movable range of ±4-5 mm under the movable support.

[0108] Combine Figure 4 and Figure 14 A top plate 150 is provided inside the drum 200 near the drum mouth, and the top plate 150 is fixedly connected to the fixed shaft 140; the upper cover 300 is fixedly connected to the top plate 150 through a connecting rod mechanism.

[0109] Specifically, the connecting rod mechanism includes two first lifting rods 810 arranged in parallel and two second lifting rods 820 arranged in parallel; one end of the first lifting rod 810 and the second lifting rod 820 are hinged to the top plate 150, and the other end of both are hinged to the inner top surface of the upper cover 300; the length of the first lifting rod 810 is smaller than the length of the second lifting rod 820, so that the upper cover 300 can be flipped open or closed relative to the rotating drum 200, so as to facilitate opening the upper cover 300 for maintenance and other operations.

[0110] Furthermore, a spring is provided between the upper cover 300 and the top plate 150 , and the spring can provide a certain elastic force to assist the operator when manually opening or closing the upper cover 300 , thereby facilitating manual operation and saving effort.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A material pushing robot, characterized in that: include: A walking chassis (100), a rotating drum (200) pivotally connected to the walking chassis (100) and covering the outer circumference thereof, an upper cover (300) covering the rotating drum (200), a rotating mechanism (500) and a lifting mechanism (600) for driving the rotating drum (200) to rotate and lift respectively; a vertically arranged fixed shaft (140) is fixedly connected to the walking chassis (100); the rotating mechanism (500) includes a rotating shaft (510) and a rotating drive assembly connected to the rotating shaft (510); the rotating shaft (510) is sleeved on the outer circumference of the fixed shaft (140), and the rotating shaft (510) is provided with a spline groove section (511) along its axial direction, and the spline groove The outer peripheral side of the segment (511) is provided with a spline sleeve (520) that rotates synchronously therewith, and the spline sleeve (520) is configured to be able to move along the axial direction of the spline groove segment (511); the rotation drive assembly is installed on the walking chassis (100) and is used to drive the rotating shaft (510) to rotate relative to the fixed shaft (140); the inner wall of the rotating drum (200) is fixedly connected to the spline sleeve (520) through the suspension assembly; the lifting mechanism (600) includes a follower (640) and a lifting drive assembly that is transmission-connected to the follower (640); the follower (640) is connected to the spline sleeve (520); the lifting drive assembly is installed on the walking chassis (1 00), the lifting drive assembly is used to drive the follower (640) to lift and lower to control the distance between the rotating drum (200) and the shelf surface; a top plate (150) is provided inside the rotating drum (200) near the drum mouth, and the top plate (150) is fixedly connected to the fixed shaft (140); the upper cover (300) is fixedly connected to the top plate (150) through a connecting rod mechanism; the connecting rod mechanism includes two first lifting rods (810) arranged in parallel and two second lifting rods (820) arranged in parallel; the pushing robot also includes an anti-collision mechanism; the anti-collision mechanism includes an anti-collision ring (710), a suspension rod (720), an adapter (730), a stud (740) and a detection The assembly (750) comprises: an anti-collision ring (710) made of a hard material and movably connected to the periphery of the rotating drum (200); the suspension rod (720) is arranged in a plurality of groups at intervals along the circumference of the anti-collision ring (710); the stud (740) is connected to one end of the suspension rod (720) away from the anti-collision ring (710); the adapter (730) is sleeved on the stud (740), and the adapter (730) has an activity space, and the activity space is configured to enable the stud (740) to move in its own radial direction when subjected to a collision force; the detection assembly (750) is used to detect the radial position deviation of the anti-collision ring (710) to control the start and stop of the rotating drum (200).

2. The pusher robot according to claim 1, characterized in that: The end of the rotating shaft (510) opposite to the spline groove section (511) is a bevel gear disc portion (512); the rotary drive assembly comprises a rotating motor (530) and a bevel gear (540) transmission-connected to the rotating motor (530); the bevel gear disc portion (512) is meshedly connected to the bevel gear (540); and the rotating motor (530) is mounted on the walking chassis (100).

3. The pusher robot according to claim 2, characterized in that: The outer peripheral side of the rotating shaft (510) is provided with a mounting sleeve (550) via a bearing fixing sleeve, and the bearing is located between the spline groove section (511) and the bevel gear disc portion (512); the upper end of the mounting sleeve (550) is fixedly connected to the traveling chassis (100) via multiple sets of fasteners.

4. The pusher robot according to claim 1, characterized in that: The lifting drive assembly includes a lifting motor (610) and a gear (620) connected to the lifting motor (610); the walking chassis (100) is provided with a rack (630) in a vertical direction and slidingly matched with the rack (630), and the rack (630) is meshedly connected to the gear (620); the follower (640) is fixedly connected to the top of the rack (630), and the follower (640) abuts against the bottom surface of the spline sleeve (520).

5. The pusher robot according to claim 1, characterized in that: The outer peripheral surface of the rotating drum (200) is a conical surface with a top circle diameter smaller than a bottom circle diameter; and the bottom surface of the rotating drum (200) is an inclined plane with a preset angle formed with the shelf surface.

6. The pusher robot according to any one of claims 1 to 5, characterized in that: The suspension assembly includes a plurality of cantilevers (410), each of which extends toward the center of the rotating drum (200) and is fixedly connected to the same annular sleeve (420); a reinforcing arm (430) is connected between two adjacent cantilevers (410), and the plurality of reinforcing arms (430) form a rectangular structure; the diameter of the spline sleeve (520) increases from top to bottom along its axial direction to form at least one set of step surfaces; the annular sleeve (420) is buckled on the spline sleeve (520), and the inner bottom surface of the annular sleeve (420) contacts and is fixedly connected to one of the set of step surfaces.

7. The pusher robot according to claim 6, characterized in that: The rotating drum (200) comprises an upper ring body (210), a lower ring body (220), and a plurality of support arms (230) connected therebetween; two adjacent support arms (230) are connected via an arc frame (240), and are circumferentially covered with a shell plate.

8. The pusher robot according to claim 1, characterized in that: One end of each of the first lifting rod (810) and the second lifting rod (820) is hinged to the top plate (150), and the other end of each of the first lifting rod (810) is hinged to the inner top surface of the upper cover (300); the length of the first lifting rod (810) is smaller than the length of the second lifting rod (820), so that the upper cover (300) can be flipped open or closed relative to the rotating drum (200).

9. The pusher robot according to claim 1, characterized in that: The walking chassis (100) comprises a chassis body (110), two driving wheels (120) pivotally connected to the chassis body (110), and a universal wheel (130); the two driving wheels (120) and the universal wheel (130) are arranged in a triangle; the driving wheels (120) and the universal wheel (130) are configured to be driven independently.

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