Self-rotating, attitude-adjustable hay-feeding robot

Abstract

This invention discloses a self-rotating, attitude-adjustable forage-pushing robot, relating to the field of intelligent livestock farming technology. It includes a robot body and a pushing roller disposed outside the robot body. The robot body includes a chassis with a walking mechanism, a rotary motor fixed to the chassis, a drive shaft connected to the output shaft of the rotary motor, and a pushing roller support fixed to the end of the drive shaft away from the rotary motor. The pushing roller is sleeved on the outer circumference of the pushing roller support. A lifting mechanism is also provided between the chassis and the pushing roller support to drive the pushing roller support away from / towards the chassis. This invention's pushing robot combines the rotation and lifting functions of the pushing roller through a ratchet mechanism, resulting in better pushing performance and a lower failure rate.

Description

Technical Field

[0001] This invention belongs to the field of intelligent animal husbandry technology, specifically relating to a self-rotating, posture-adjustable hay-pushing robot. Background Technology

[0002] With the rapid development of my country's livestock industry, cattle and sheep breeding technology is gradually becoming more centralized and large-scale. Farms have begun to adopt total mixed ration (TMR) feeding technology, which can ensure the uniformity of feeding for cattle and sheep. However, cattle and sheep will push feed out of the feeding area during the feeding process. If the feed is not pushed back to the feeding area in time, it will cause feed waste and affect the feed intake rate of cattle and sheep. Therefore, farms need to use feed pushing machinery to push the feed outside the feeding area back to the feeding area. However, many farms currently use feed pushing equipment that has been modified by themselves, which not only causes serious pollution to the pasture, but also has extremely high labor costs.

[0003] Existing technologies typically employ pusher robots to replace manual labor in pushing forage. Domestically available pusher robots use a multi-gear mechanism to control the rollers, which not only increases costs but also significantly raises the failure rate. Furthermore, the pushing height is fixed, and the pushing device cannot be raised or lowered, leading to excessive friction with the ground and resulting in substantial wear and waste. For example, Chinese invention patent publication CN108293895A discloses an automatic pasture pusher robot, including a chassis, a rotating roller assembly, a top cover, and a walking unit. The walking unit is installed on the bottom of the chassis, allowing it to push feed to the cows' grazing area along a predetermined route using its polygonal rotating roller assembly, achieving automated feeding. However, this technology uses a multi-gear mechanism to control the roller rotation, resulting in high costs, a high failure rate, and difficult maintenance. Moreover, it cannot autonomously raise or lower, and when not pushing feed, the rollers rub against the ground, causing wear and waste.

[0004] Therefore, it is necessary to propose a self-rotating, attitude-adjustable hay-pushing robot to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a self-rotating, attitude-adjustable hay pushing robot to solve the aforementioned technical problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following solution: a self-rotating, attitude-adjustable hay-pushing robot, comprising a robot body and a pushing roller disposed outside the robot body. The robot body includes a chassis with a walking mechanism, a rotary motor fixed to the chassis, a drive shaft connected to the output shaft of the rotary motor, and a pushing roller support fixed to the end of the drive shaft away from the rotary motor. The pushing roller is sleeved on the outer periphery of the pushing roller support. A lifting mechanism for driving the pushing roller support away from / towards the chassis is also provided between the chassis and the pushing roller support.

[0007] Preferably, the lifting mechanism includes a lifting platform fixed to the chassis, a rotary table fixed to the periphery of the drive shaft, a ratchet gear ring fitted around the periphery of the rotary table, and a ratchet slider cooperating with the ratchet gear ring. The ratchet slider slides radially elastically on the rotary table. Two rubber rollers rotate around the outer periphery of the ratchet gear ring. The rubber rollers travel circumferentially on the lifting platform. The lifting platform is provided with two climbing protrusions along the circumferential direction to guide the rubber rollers to climb upward. The drive shaft is telescopically connected to the rotary motor.

[0008] Preferably, the ratchet slider slides radially on the upper surface of the rotary table, and a spring connects the ratchet slider to the drive shaft.

[0009] Preferably, the lifting mechanism is driven by the rotary motor. When the rotary motor rotates clockwise, the ratchet slider locks with the ratchet gear ring, and the rubber roller located on the outer periphery of the ratchet gear ring moves circumferentially along the lifting platform and climbs upward under the action of the climbing protrusion, thereby driving the drive shaft to rise and realize posture adjustment.

[0010] Preferably, the top of the pusher roller is fixedly connected to or integrally formed with a top cover, and guide plates are provided on both sides of the top cover.

[0011] Preferably, electrodes are provided on both sides of the upper cover, and the electrodes are electrically connected to a power source fixed to the chassis.

[0012] Preferably, it also includes an ultrasonic obstacle avoidance module disposed on the periphery of the upper cover and a radar disposed on the top of the upper cover.

[0013] Preferably, the walking mechanism includes two walking tires and two omnidirectional wheels, and the walking tires are driven by a walking motor.

[0014] Preferably, the system also includes a controller located on the chassis, the controller being electrically connected to both the rotary motor and the walking motor.

[0015] Preferably, the end of the drive shaft away from the rotary motor is fixedly connected to a shaft end fixing seat, and the pusher drum bracket is detachably mounted on the shaft end fixing seat by bolts.

[0016] Compared with the prior art, the present invention discloses at least the following technical effects:

[0017] The self-rotating, attitude-adjustable hay pushing robot of the present invention combines the rotation and lifting functions of the robot's pushing roller through a ratchet mechanism. Because it can lift and lower autonomously, the pushing effect of the robot of the present invention is better and the failure rate is lower. The above-mentioned structural improvements not only reduce manufacturing costs but also simplify the mechanical structure. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the 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.

[0019] Figure 1 This is a schematic diagram of the external shape of the self-rotating, attitude-adjustable hay-pushing robot of the present invention.

[0020] Figure 2 This is a schematic diagram of the internal structure of the self-rotating, attitude-adjustable hay-pushing robot of the present invention. Figure 1 ;

[0021] Figure 3 This is a schematic diagram of the internal structure of the self-rotating, attitude-adjustable hay-pushing robot of the present invention. Figure 2 ;

[0022] Figure 4 This is a three-dimensional structural diagram of the robot body in an embodiment of the present invention;

[0023] Figure 5 This is a top view of the robot body in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the robot body after the lifting mechanism has been removed in an embodiment of the present invention;

[0025] In the diagram: 1. Top cover; 2. Guide plate; 3. Electrode; 4. Pushing roller; 5. Ultrasonic obstacle avoidance module; 6. Radar; 7. Pushing cylinder bracket; 8. Robot body; 9. Lifting mechanism; 10. Lifting platform; 11. Rubber roller; 12. Ratchet gear ring; 13. Spring; 14. Ratchet slider; 15. Rotary motor; 16. Controller; 17. Universal wheel bracket; 18. Universal wheel; 19. Walking motor; 20. Walking tire; 21. Motor mounting bracket; 22. Chassis; 23. Power supply; 24. Rotary motor mounting base; 25. Rotary table; 26. Drive shaft; 27. Shaft end mounting seat; 28. Bolt. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Reference Figures 1 to 6 As shown, the present invention provides a self-rotating, attitude-adjustable hay pushing robot, including a robot body 8, a pushing cylinder support 7, a pushing roller 4, and a top cover 1. The robot body 8 includes a chassis 22 with a walking mechanism. A rotary motor 15 is fixedly connected to the center of the chassis 22. A drive shaft 26 is telescopically connected to the output shaft of the rotary motor 15 via a shaft pin. A shaft end fixing seat 27 is provided at the end of the drive shaft 26 away from the rotary motor 15. The pushing cylinder support 7 is detachably mounted on the shaft end fixing seat 27 by bolts 28. The pushing cylinder support 7 is a cap-shaped frame with a hollow interior and an open bottom, including multiple ring-shaped supports and connecting ribs connecting the multiple ring-shaped supports. The pushing roller 4 has a shape adapted to the shape of the pushing cylinder support 7 and covers the pushing cylinder support 7. The top cover 1 is fixedly connected to the top of the pushing roller 4. An ultrasonic obstacle avoidance module 5 and a radar 6 are provided on the periphery of the top cover 1. The rotary motor 15 drives the drive shaft 26 to rotate, which in turn drives the pusher roller 4 to rotate around the drive shaft 26, thus completing the pushing action.

[0029] In the above embodiment, a lifting mechanism 9 is also included, located between the chassis 22 and the pusher drum support 7. The lifting mechanism 9 is used to drive the pusher drum support 7 away from or closer to the chassis 22 to realize the raising and lowering of the pusher drum 4.

[0030] like Figure 4 and Figure 5As shown, the lifting mechanism 9 includes a lifting platform 10 fixed to the chassis 22, a rotary table 25 fixed to the periphery of the drive shaft 26, a ratchet gear ring 12 sleeved around the rotary table 25, and a ratchet slider 14 cooperating with the ratchet gear ring 12. Specifically, the ratchet slider 14 slides radially elastically on the rotary table 25. Two rubber rollers 11 rotate around the outer periphery of the ratchet gear ring 12. The rubber rollers 11 travel circumferentially on the lifting platform 10. The lifting platform 10 is a hollow cylindrical structure, sleeved around the outer periphery of the rotary motor 15 and the drive shaft 26. Its bottom is fixedly connected to the chassis 22, and its top has two circumferentially arranged ramps to guide the rubber rollers 11 to climb upwards. Since the drive shaft 26 is telescopically connected to the rotary motor 15, it can extend and retract in the height direction, providing structural support for the operation of the lifting mechanism 9. At the same time, the pusher roller 4 is designed as a telescopic corrugated cylindrical structure.

[0031] In this embodiment, through structural design, the lifting mechanism 9 cooperates with the rotary motor 15 and the drive shaft 26, which reduces the space occupied by the lifting mechanism 9 and eliminates the need for a separate drive mechanism. The lifting mechanism 9 can be controlled by changing the direction of the rotary motor 15. The lifting mechanism 9 is driven by the rotary motor 15. When the rotary motor 15 rotates clockwise, the ratchet slider 14 locks with the ratchet gear ring 12. The rubber roller 11 located on the outer periphery of the ratchet gear ring 12 moves circumferentially along the lifting platform 10 and climbs upward under the action of the climbing protrusion, thereby driving the drive shaft 26 to rise and achieve posture adjustment.

[0032] In a further optimized design, the ratchet slider 14 slides radially on the upper surface of the rotary table 25, and a spring 13 is connected between the ratchet slider 14 and the drive shaft 26.

[0033] In the above embodiment, a power supply 23 and a controller 16 are installed on the chassis 22. The power supply 23 provides power to each motor and functional module. The controller 16 serves as the signal processing and control center of the pushing robot and is electrically connected to each motor and functional module to realize automated control of the pushing robot's walking, pushing, obstacle avoidance, lifting and other actions.

[0034] In a further optimized version of the above embodiment, the controller 16 is wirelessly connected to a handheld terminal, such as a mobile phone. The handheld terminal is equipped with an APP control management system, which is connected to the controller 16 of the pushing robot via a wireless network to realize remote monitoring and operation of the pushing process.

[0035] Further optimizing the design, the ultrasonic obstacle avoidance module 5 includes multiple piezoelectric transducers and a signal processing unit for sending and receiving ultrasonic signals. The piezoelectric transducers generate ultrasonic pulses forward using the inverse piezoelectric effect. These pulses are reflected when they encounter obstacles while propagating through the air. The reflected ultrasonic pulses are received by the same or another piezoelectric transducer and converted into electrical signals through the direct piezoelectric effect. The signal processing unit's built-in circuitry receives the analog electrical signals and converts them into digital signals. By measuring the round-trip time of the ultrasonic waves, the distance to the obstacle can be calculated. Finally, the digital signal indicating the obstacle distance is transmitted to the controller 16.

[0036] Further optimizing the design, radar 6, located at the top of the upper cover 1, is primarily used to enhance the environmental perception capabilities of the pushing robot, enabling intelligent navigation and obstacle avoidance. Radar 6 can emit electromagnetic waves or sound waves and receive signals reflected back from the surrounding environment. By analyzing the characteristics of these signals, the robot can detect information such as the position, distance, and speed of obstacles. In this way, the robot can monitor its surrounding environment in real time while moving, avoid collisions, plan safe paths, and even navigate autonomously in complex or unknown environments.

[0037] To further optimize the solution, the aforementioned radar 6 uses a three-dimensional lidar sensor to construct a pasture map by monitoring and scanning the pasture environment, providing real-time path planning and obstacle avoidance functions for the feeding equipment.

[0038] Further optimize the plan, such as Figure 1 As shown, the top cover 1 can be snapped onto the top of the pusher roller 4, or it can be fixedly installed on the top of the pusher roller 4 by bolts 28, or it can be integrally formed with the top of the pusher roller 4. The top cover 1 is provided with guide plates 2 and electrodes 3 on both sides, which facilitates automatic control to complete the charging operation.

[0039] In a further optimized design, the walking mechanism includes two walking tires 20 and two omnidirectional wheels 18, with the walking tires 20 being driven by a walking motor 19. Specifically, as shown... Figure 5 and Figure 6 As shown, the travel motor 19 is fixedly mounted at the bottom center of the chassis 22 via a motor mounting bracket 21. The travel motor 19 is connected to two travel tires 20 via a travel wheel axle, and the two travel tires 20 are connected to both ends of the travel wheel axle via a coupling. Universal wheels 18 are respectively located on the front and rear sides of the two travel tires 20, and are connected to the chassis 22 via universal wheel brackets 17, working together to complete steering and provide balanced and stable support.

[0040] To further optimize the design, the pusher robot of this invention also includes a fault diagnosis system, which monitors the working status of each component of the robot in real time through the aforementioned sensors and algorithms.

[0041] The embodiments of the present invention disclose at least the following beneficial effects:

[0042] 1. Existing self-rotating pusher robots use a multi-gear structure to control the rotation of the rollers, which is complex and has high manufacturing and maintenance costs. We directly connect the drive shaft 26 to the rollers through a spline, which greatly reduces manufacturing and maintenance costs and simplifies the mechanical structure.

[0043] 2. To address the problem that existing self-rotating pusher robots cannot achieve autonomous lifting and lowering, resulting in excessive wear and waste, this design utilizes a ratchet mechanism to achieve the dual functions of roller pushing and lifting.

[0044] 3. In response to the problem that existing self-rotating pusher robots on the market that can lift and lower independently use a separate motor to control the lifting function, this design uses a ratchet mechanism and a lifting platform 10 to complete two functions through a single rotary motor 15, realizing the combination of rotary pushing and lifting functions, which greatly reduces manufacturing costs.

[0045] 4. In response to the existing situation where semi-automated and self-modified equipment is used for pushing materials in ranches, this design adopts the latest three-dimensional lidar sensor. By monitoring and scanning the ranch environment, a ranch map is constructed, providing real-time path planning and obstacle avoidance functions for the pushing equipment. This design will effectively improve the automation level of the ranch pushing operation, reduce labor costs, and improve the ranch's operational efficiency.

[0046] 5. Addressing the current low level of automation in pasture feeding operations, this design introduces a mobile app control and management system. This system connects to the feeding equipment via a wireless network, enabling remote monitoring and operation of the feeding process. Through this system, staff can monitor the equipment's operating status in real time, preset feeding schedules according to the pasture's needs, and the equipment will automatically execute tasks, reducing manual intervention. Simultaneously, the mobile app records the equipment's operating data, facilitating staff analysis of equipment performance and operational efficiency, and providing data support for pasture management.

[0047] 6. To address the low efficiency of equipment failure handling in existing pasture feeding operations, this feeding robot is equipped with a fault diagnosis system. This system uses advanced sensors and algorithms to monitor the working status of each component of the robot in real time. It can quickly diagnose faults, shorten troubleshooting time, reduce equipment downtime, and improve operational continuity. At the same time, accurate fault diagnosis helps maintenance personnel quickly locate problems, reducing unnecessary repairs and parts replacements, and lowering maintenance costs.

[0048] All aspects not detailed in this invention are conventional technical means known to those skilled in the art.

[0049] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0050] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A self-rotating, attitude-adjustable hay-pushing robot, characterized in that, The robot body (8) includes a robot body (8) and a pusher roller (4) disposed outside the robot body (8). The robot body (8) includes a chassis (22) with a walking mechanism, a rotary motor (15) fixed to the chassis (22), a drive shaft (26) connected to the output shaft of the rotary motor (15), and a pusher roller bracket (7) fixed to the end of the drive shaft (26) away from the rotary motor (15). The pusher roller (4) is sleeved on the pusher roller bracket. (7) On the outer periphery, a lifting mechanism (9) is also provided between the chassis (22) and the pusher drum support (7) to drive the pusher drum support (7) away from / closer to the chassis (22); the lifting mechanism (9) includes a lifting platform (10) fixed to the chassis (22), a rotating table (25) fixed to the periphery of the drive shaft (26), a ratchet gear ring (12) sleeved on the periphery of the rotating table (25), and a ratchet slider (1) cooperating with the ratchet gear ring (12). 4) The ratchet slider (14) slides radially elastically on the upper surface of the rotary table (25), and a spring (13) connects the ratchet slider (14) and the drive shaft (26); the outer circumference of the ratchet gear ring (12) has two rubber rollers (11), and the rubber rollers (11) travel circumferentially on the lifting platform (10). The lifting platform (10) has two circumferentially arranged ramps to guide the rubber rollers (11) to climb upwards. The drive shaft (26) is telescopically connected to the rotary motor (15); the lifting mechanism (9) is driven by the rotary motor (15). When the rotary motor (15) rotates clockwise, the ratchet slider (14) locks with the ratchet gear ring (12). The rubber roller (11) located on the outer periphery of the ratchet gear ring (12) moves circumferentially along the lifting platform (10) and climbs upward under the action of the climbing protrusion, thereby driving the drive shaft (26) to rise and realize posture adjustment.

2. The self-rotating, attitude-adjustable hay-pushing robot according to claim 1, characterized in that, The top of the pusher roller (4) is fixed or integrally formed with a top cover (1), and guide plates (2) are provided on both sides of the top cover (1).

3. The self-rotating, attitude-adjustable hay-pushing robot according to claim 2, characterized in that, Electrodes (3) are provided on both sides of the upper cover (1), and the electrodes (3) are electrically connected to the power supply (23) fixed on the chassis (22).

4. The self-rotating, attitude-adjustable hay-pushing robot according to claim 2, characterized in that, It also includes an ultrasonic obstacle avoidance module (5) located around the top cover (1) and a radar (6) located on the top of the top cover (1).

5. The self-rotating, attitude-adjustable hay-pushing robot according to claim 1, characterized in that, The walking mechanism includes two walking tires (20) and two omnidirectional wheels (18), and the walking tires (20) are connected to a walking motor (19).

6. The self-rotating, attitude-adjustable hay-pushing robot according to claim 5, characterized in that, It also includes a controller (16) located on the chassis (22), which is electrically connected to the rotary motor (15) and the walking motor (19).

7. The self-rotating, attitude-adjustable hay-pushing robot according to claim 1, characterized in that, The drive shaft (26) is fixed to a shaft end fixing seat (27) at one end away from the rotary motor (15), and the pusher drum bracket (7) is detachably mounted on the shaft end fixing seat (27) by bolts (28).

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