Automatic calf feeding robot

Abstract

The invention provides an automatic calf feeding robot which comprises a self-moving rack, a milk blending mechanism, a milk feeding mechanism, a calf information collector, a positioner and a feeding controller, and the milk blending mechanism, the milk feeding mechanism, the calf information collector, the positioner and the feeding controller are mounted on the self-moving rack. The feeding controller controls the self-moving rack to move towards the feeding window of the corresponding calf island according to the positioning signal, the calf information collector reads the calf information in the calf island, and the feeding controller controls the milk blending mechanism to blend the milk amount corresponding to the milk amount for feeding the calf according to the calf information. According to the calf feeding device, the milk liquid is prepared through the milk liquid mixing device and is conveyed to the milk liquid feeding mechanism, the feeding controller controls the milk liquid feeding mechanism to stretch into the feeding window of the corresponding calf island so as to automatically feed the milk liquid to the calves bred in the calf island, a feeding pipe does not need to be manually held by hand for auxiliary feeding, the manual labor is reduced, and the convenience of feeding the calves is improved.

Description

Technical Field

[0001] The invention relates to the technical field of calf feeding, and in particular to an automatic calf feeding robot. Background Art

[0002] In the early stage, calves are mainly isolated in single stalls. In order to meet their growth needs, they need to be fed multiple times a day. Moreover, the age of each calf is different, and the amount of milk fed is also different. In order to improve the feeding efficiency of calves, quantitative feeding carts are generally used for feeding in the prior art. For example, the authorization announcement number is CN217117216U, which discloses a quantitative feeding device for calves in a ranch. A milk tank is installed on a tanker, and a milk outlet pipe is provided at the rear of the milk tank. The milk outlet pipe is connected to a pump body, and the pump body is connected to a feeding pipe. A flow meter and an RFID sensor are installed on the feeding pipe. The RFID sensor senses the calf island information sign to obtain calf information. The background server controls the pump body to quantitatively output milk through a controller according to the feeding amount of calves of different ages, thereby completing the quantitative feeding of calves and improving feeding efficiency and accuracy.

[0003] However, this kind of quantitative feeding equipment for calves on pastures still requires manual labor during the feeding process, and auxiliary feeding is performed through a manual handheld feeding tube, which is time-consuming and laborious, and not convenient enough. Moreover, a large amount of prepared milk needs to be loaded into the milk tank before feeding. If a large amount of milk cannot be fed in a short time in the milk tank, it will deteriorate. Summary of the invention

[0004] In view of this, it is necessary to provide an automatic calf feeding robot to solve the technical problem that calf feeding is not convenient enough in the prior art.

[0005] The technical solution adopted by the present invention to solve its technical problem is: A calf automatic feeding robot comprises a self-moving frame, a milk mixing mechanism installed on the self-moving frame, a milk feeding mechanism, a calf information collector, a locator and a feeding controller, wherein the self-moving frame, the milk mixing mechanism, the milk feeding mechanism, the calf information collector and the locator are electrically connected to the feeding controller respectively, the milk output end of the milk mixing mechanism is connected to the milk input end of the milk feeding mechanism, the locator locates the feeding window of the calf island of the breeding calf, and transmits the positioning signal to the feeding controller, and the feeding controller receives the positioning signal of the locator The calf information collector reads the calf information in the calf island and transmits the calf information to the feeding controller. The feeding controller receives the calf information and controls the milk mixing mechanism to mix the milk corresponding to the amount of milk to be fed to the calf according to the calf information, and transmits the mixed milk to the milk feeding mechanism. The feeding controller controls the milk feeding mechanism to extend into the feeding window of the corresponding calf island to feed the calf raised in the calf island with milk.

[0006] Preferably, the milk mixing mechanism comprises a water tank, a milk powder storage tank and a milk stirring device, the outlet of the milk powder storage tank is provided with a milk powder quantitative conveyor, the output port of the milk powder quantitative conveyor is connected with the feed port of the milk stirring device, the water outlet of the water tank is connected with the water inlet of the milk stirring device, a metering pump is provided on the water outlet of the water tank, the milk stirring device, the milk powder quantitative conveyor and the metering pump are electrically connected with a feeding controller respectively, the feeding controller controls the milk powder quantitative conveyor to convey a quantitative amount of milk powder to the milk stirring device according to the information of the calf to be fed, controls the metering pump to convey a quantitative amount of water to the milk stirring device, and controls the milk stirring device to stir and mix into milk.

[0007] Preferably, the milk feeding mechanism includes a mechanical arm, a feeding nipple and a milk delivery pump, one end of the mechanical arm is fixed on a self-moving frame, the feeding nipple is arranged at the other end of the mechanical arm, the output end of the milk stirring device is connected to the input end of the milk delivery pump, the output end of the milk delivery pump is connected to the feeding nipple, and an induction valve is arranged at the input end of the feeding nipple. The mechanical arm, the milk delivery pump and the induction valve are respectively electrically connected to a feeding controller, and the feeding controller controls the mechanical arm to extend the feeding nipple into a feeding window of a corresponding calf island according to a positioning signal. After the induction valve senses the suction force of the calf sucking the feeding nipple, the induction valve transmits a suction signal to the feeding controller, and after receiving the suction signal, the feeding controller controls the milk delivery pump to quantitatively deliver milk to the feeding nipple.

[0008] Preferably, the milk stirring device includes a milk stirring tank, a stirring motor and a stirring paddle, the stirring motor is arranged at the bottom of the milk stirring tank, the stirring paddle is arranged in the milk stirring tank and connected to the stirring motor shaft, the water outlet of the water storage tank is connected to the water inlet of the milk stirring tank, the output port of the milk powder quantitative conveyor is connected to the feed port of the milk stirring tank, the feeding controller controls the water in the water storage tank and the milk powder in the milk powder storage tank to be added to the milk stirring tank according to a preset ratio, and controls the stirring motor to drive the stirring paddle to stir in the milk stirring tank.

[0009] Preferably, the milk powder quantitative conveyor is a screw conveyor, and a first solenoid valve is provided at the discharge port of the screw conveyor.

[0010] Preferably, the milk feeding mechanism also includes a milk warming box, which is arranged between the milk delivery pump and the feeding nipple, the output end of the milk delivery pump is connected to the inlet of the milk warming box, and the outlet of the milk warming box is connected to the input end of the feeding nipple. The milk delivered to the feeding nipple by the milk delivery pump flows through the milk warming box, and the milk warming box heats the milk flowing therein.

[0011] Preferably, the self-moving frame is also provided with a cleaning tank, an acid and alkali solution storage tank and a cleaning pump. After the feeding controller controls the mechanical arm to retract from the feeding window of the calf island, the feeding nipple can be extended into the cleaning tank. A cleaning nozzle facing the feeding nipple is provided on the inner side wall of the cleaning tank. The output end of the cleaning pump is connected to the cleaning nozzle, and the input end of the cleaning pump is connected to the acid and alkali solution storage tank to transport the acid and alkali solution stored in the acid and alkali solution storage tank to the cleaning nozzle, so as to clean and disinfect the feeding nipple entering the cleaning tank.

[0012] Preferably, the self-moving frame is a box body that is sealed on all sides, and running wheels and a driving motor for driving the running wheels to rotate are arranged at the bottom of the box body. The milk mixing mechanism, the milk feeding mechanism and the acid and alkali liquid storage tanks are all arranged in the box body. A channel is provided on the side of the box body facing the calf island for the mechanical arm to extend to the feeding window of the calf island. A channel opening device that can close or open the channel is also provided on the side of the box body where the channel is opened. The channel opening device includes a telescopic push rod and a movable door. A slide rail is provided on the channel opening, and the movable door is installed on the slide rail. The telescopic push rod is provided at one end of the slide rail and is connected to the movable door, and can push the movable door to slide along the slide rail to open or close the channel through the movable door. After the movable door closes the channel, the mechanical arm can be blocked in the channel to prevent the feeding nipple provided on the mechanical arm from freezing.

[0013] Preferably, obstacle detection sensors are respectively provided on one side of the forward and backward directions of the self-moving frame, and the obstacle detection sensors are electrically connected to the feeding controller, so that obstacles in the moving direction of the self-moving frame are monitored in real time through the obstacle detection sensors.

[0014] Preferably, the automatic calf feeding robot also includes a guide rail matching the running wheels of the self-moving frame, wherein the guide rail extends parallel to one side of each calf island where the feeding window is set, and the running wheels of the self-moving frame are mounted on the guide rail and can be moved along the guide rail to the feeding window of each calf island.

[0015] It can be seen from the above technical scheme that the automatic calf feeding robot provided by the present application includes a self-moving frame, a milk mixing mechanism installed on the self-moving frame, a milk feeding mechanism, a calf information collector, a locator and a feeding controller. The locator is used to locate the feeding window of the calf island where the calf is raised. The feeding controller controls the self-moving frame to move to the feeding window of the corresponding calf island according to the positioning signal. The calf information collector reads the calf information in the calf island. The feeding controller controls the milk mixing mechanism to mix the amount of milk corresponding to the calf according to the calf information. The prepared milk is transmitted to the milk feeding mechanism, and the feeding controller controls the milk feeding mechanism to extend into the feeding window of the corresponding calf island, so as to automatically feed the calves raised in the calf island with milk. There is no need for manual hand-held feeding tubes for auxiliary feeding, which reduces human labor and improves the convenience of feeding calves. In addition, the automatic calf feeding robot can control the milk preparing mechanism according to the calf information to prepare the amount of milk for each calf for accurate feeding. There is no need to store a large amount of milk in the milk storage tank, which avoids a large amount of waste or deterioration of the milk when the milk is not fully fed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the invention.

[0017] Figure 2 It is a front structural schematic diagram of the invention.

[0018] Figure 3 It is a side structural schematic diagram of the invention.

[0019] Figure 4 for Figure 1 Schematic diagram of the cross-sectional structure along the middle edge AA.

[0020] Figure 5 for Figure 2 Schematic diagram of the cross-sectional structure along the middle edge BB.

[0021] Figure 6 This is a schematic diagram of the robot arm putting the feeding nipple into the cleaning tank.

[0022] Figure 7 This is a schematic diagram of the usage status of the invention.

[0023] Figure 8 for Figure 7A local enlarged schematic diagram of point A in the middle.

[0024] In the figure: self-moving frame 10, walking wheel 11, driving motor 12, channel 13, obstacle detection sensor 14, camera 15, calf information collector 40, positioner 50, feeding controller 60, milk mixing mechanism 20, water storage tank 21, hot water filling port 211, milk powder storage tank 22, milk powder filling port 221, milk stirring device 23, milk powder quantitative conveyor 24, first solenoid valve 241, feeding motor 242, metering pump 25, milk stirring tank 231, stirring motor 232, stirring paddle 233, milk feeding mechanism 30, mechanical arm 31, feeding nipple 32, milk delivery pump 33, induction valve 34, milk heating box 35, cleaning tank 70, acid and alkali solution storage tank 71, cleaning pump 72, cleaning nozzle 73, wastewater collection tank 74, drain outlet 75, acid and alkali solution filling port 76, channel opening device 80, telescopic push rod 81, movable door 82, slide rail 83, calf island 90, feeding window 91, guide rail 92, information identification label 93, reflective plate 94. DETAILED DESCRIPTION

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. 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 creative work.

[0026] Please see Figure 1 , Figure 2 , Figure 3 , Figure 7 and Figure 8An embodiment of the present invention provides an automatic calf feeding robot, which can move automatically between the calf islands 90 to feed milk to the calves raised in each calf island 90 in a quantitative manner. The calf automatic feeding robot comprises a self-moving frame 10, a milk mixing mechanism 20, a milk feeding mechanism 30, a calf information collector 40, a positioner 50 and a feeding controller 60 installed on the self-moving frame 10, a running wheel 11 and a driving motor 12 for driving the running wheel 11 to rotate are arranged at the lower end of the self-moving frame 10, the driving motor 12 of the self-moving frame 10, the milk mixing mechanism 20, the milk feeding mechanism 30, the calf information collector 40 and the positioner 50 are respectively electrically connected to the feeding controller 60, the milk output end of the milk mixing mechanism 20 is connected to the milk input end of the milk feeding mechanism 30, and a battery is built in the self-moving frame 10, and the milk mixing mechanism 20, the milk feeding mechanism 30, the calf information collector 40, the positioner 50, the feeding controller 60 and the driving motor 12 of the self-moving frame 10 are powered by the battery. A feeding window 91 for feeding calves is provided on the fence of each calf island 90 for raising calves. The feeding controller 60 controls the driving motor 12 to operate so as to control the self-moving frame 10 to move along each calf island 90. The feeding window 91 of the calf island 90 for raising calves is positioned by the positioner 50 provided on the self-moving frame 10. The positioner 50 transmits the positioning signal to the feeding controller 60. The feeding controller 60 receives the positioning signal of the positioner 50 and controls the self-moving frame 10 to move to the feeding window 91 of the corresponding calf island 90 according to the positioning signal. When the self-moving frame 1 After the calf 0 moves to the feeding window 91 of the corresponding calf island 90, the calf information collector 40 reads the calf information set on the fence of the calf island 90, and transmits the calf information to the feeding controller 60. The feeding controller 60 receives the calf information, and controls the milk mixing mechanism 20 to mix the corresponding amount of milk for feeding the calf according to the calf information, and transmits the mixed milk to the milk feeding mechanism 30. The feeding controller 60 controls the milk feeding mechanism 30 to extend into the feeding window 91 of the calf island 90 to feed the calf raised in the calf island 90 with milk.

[0027] Specifically, the locator 50 is a laser locator 50 or an infrared reflective locator 50, the feeding controller 60 is an MCU controller, the calf information collector 40 is an RFID identifier or a barcode scanner, and a feeding window 91 is preset on the fence of each calf island 90. An information identification label 93 (two-dimensional code or electronic label) matching the information of the calf raised in the calf island 90 and a reflector 94 matching the locator 50 are arranged directly above the feeding window 91 of each calf island 90; the installation height of the information identification label 93 matches the installation height of the calf information collector 40, and the installation height of the reflector 94 matches the installation height of the locator 50. The milk mixing mechanism 20 includes a water tank 21, a milk powder storage tank 22 and a milk stirring device 23. The outlet of the milk powder storage tank 22 is provided with a milk powder quantitative conveyor 24. The output port of the milk powder quantitative conveyor 24 is connected to the feed port of the milk stirring device 23. The water outlet of the water tank 21 is connected to the water inlet of the milk stirring device 23. A metering pump 25 is provided on the water outlet of the water tank 21. The milk stirring device 23, the milk powder quantitative conveyor 24 and the metering pump 25 are electrically connected to the feeding controller 60 respectively. The water storage tank 21 is pre-stored with clean water, and the milk powder storage tank 22 is pre-stored with milk powder for feeding calves; the milk feeding mechanism 30 includes a mechanical arm 31, a feeding nipple 32 and a milk delivery pump 33, one end of the mechanical arm 31 is fixed on the self-moving frame 10 and is located directly below the positioner 50, the height of the mechanical arm 31 should correspond to the feeding window 91 of each calf island 90, the feeding nipple 32 is arranged at the other end of the mechanical arm 31, the output end of the milk stirring device 23 is connected to the input end of the milk delivery pump 33, and the milk The output end of the liquid delivery pump 33 is connected to the feeding nipple 32, and an induction valve 34 is provided at the milk input end of the feeding nipple 32. The mechanical arm 31, the milk delivery pump 33 and the induction valve 34 are electrically connected to the feeding controller 60 respectively. The milk delivery pump 33 is a metering delivery pump, and the delivery flow rate can be controlled by the feeding controller 60. The mechanical arm 31 is an articulated mechanical arm, which is a common industrial robot. Its structure is similar to that of a human arm and can move in the X and Y planes. The mechanical arm 31 Through the feeding controller 60, one end of the feeding nipple 32 can be extended forward and inserted into the feeding window 91 of each calf island 90 for feeding. The feeding controller 60 is preset with reference values ​​of the ratio of milk to water for the amount of milk preparation corresponding to the age of the calf. For example, the reference value of the amount of milk preparation for a one-month-old calf is set to 1.8 liters of water and 240 grams of milk powder (weight unit); the reference value of the amount of milk preparation for a two-month-old calf is set to 3 liters of water and 400 grams of milk powder (weight unit)...When feeding calves, the feeding controller 60 controls the self-moving frame 10 to move in sequence on the side of each calf island 90 where the feeding window 91 is set. When the locator 50 irradiates the reflector 94 on the corresponding calf island 90 feeding window 91 and captures the reflected light, the locator 50 transmits a positioning signal to the feeding controller 60. After receiving the signal from the locator 50, the feeding controller 60 controls the self-moving frame 10 to stop moving. At this time, the calf information collector 40 reads the information identification label 93 on the feeding window 91 of the calf island 90 and obtains the basic information of the calves raised in the calf island 90. The basic information of the calf includes the calf information. The calf information collector 40 transmits the acquired basic information of the calf to the feeding controller 60. When the feeding controller 60 receives the basic information of the calf transmitted by the calf information collector 40 and obtains the age of the calf in days or months according to the basic information of the calf, the feeding controller 60 controls the milk powder quantitative conveyor 24 and the metering pump 25 to quantitatively input water and milk powder matching the age of the calf in days or months into the milk stirring device 23, and controls the milk stirring device 23 to stir the water and milk powder to prepare milk. For example, when the age of the calf in months obtained by the feeding controller 60 is 1 month old, the feeding controller 60 controls the milk powder quantitative conveyor 24 and the metering pump 25 to quantitatively input water and milk powder matching the age of the calf in days or months. The milk powder quantitative conveyor 24 inputs 240 grams of milk powder into the milk stirring device 23, and controls the metering pump 25 to input 1.8 liters of water into the milk stirring device 23; after the milk is prepared, the feeding controller 60 controls the mechanical arm 31 to extend the feeding nipple 32 into the feeding window 91 of the calf island 90. The induction valve 34 on the feeding nipple 32 is an electromagnetic valve with a built-in negative pressure sensor. When the calf sucks the feeding nipple 32, negative pressure is generated in the feeding nipple 32. The negative pressure sensor is used to detect the negative pressure in the feeding nipple 32. When the negative pressure sensor in the induction valve 34 on the feeding nipple 32 detects the suction of the calf when sucking the feeding nipple 32, the negative pressure sensor in the feeding nipple 32 generates a negative pressure. After the suction force is detected by the negative pressure sensor, the feeding controller 60 transmits a sucking signal to the feeding controller 60. The feeding controller 60 controls the induction valve 34 to open according to the sucking signal, and controls the milk delivery pump 33 to deliver the milk prepared in the milk stirring device 23 to the feeding nipple 32. During the feeding process, the feeding controller 60 controls the delivery amount of the milk delivery pump 33 according to the suction force detected by the negative pressure sensor. When the suction force detected by the negative pressure sensor is large, the feeding controller 60 controls the milk delivery pump 33 to increase the delivery amount to the feeding nipple 32. When the suction force detected by the negative pressure sensor is small, the feeding controller 60 controls the milk delivery pump 33 to reduce the delivery amount to the feeding nipple 32 to avoid milk overflow.

[0028] Please see Figure 4The milk stirring device 23 includes a milk stirring tank 231, a stirring motor 232 and a stirring paddle 233. The stirring motor 232 is arranged at the bottom of the milk stirring tank 231. The stirring paddle 233 is arranged in the milk stirring tank 231 and is connected to the shaft of the stirring motor 232. The water outlet of the water tank 21 is connected to the water inlet of the milk stirring tank 231. The output port of the milk powder quantitative conveyor 24 is connected to the feed port of the milk stirring tank 231. The feeding controller 60 controls the water in the water tank 21 and the milk powder in the milk powder storage tank 22 to be added to the milk stirring tank 231 according to a preset ratio, and controls the stirring motor 232 to drive the stirring paddle 233 to stir in the milk stirring tank 231 to generate milk.

[0029] Please see Figure 5 The milk powder quantitative conveyor 24 is a screw conveyor. The feed port of the milk powder quantitative conveyor 24 is arranged on the lower end outlet of the milk powder storage tank 22. The discharge port of the milk powder quantitative conveyor 24 faces downward to the top of the milk liquid stirring tank 231 and is connected to the inner cavity of the milk liquid stirring tank 231. A first solenoid valve 241 is arranged at the discharge port of the screw conveyor. A feeding motor 242 for driving the screw conveyor to operate is arranged at the tail of the screw conveyor. The feeding motor 242 and the first solenoid valve 241 are both electrically connected to the feeding controller 60. The operation and The first solenoid valve 241 is opened and closed, and the feeding controller 60 controls the number of revolutions of the feeding motor 242 to control the output of the milk powder. When the milk powder quantitative conveyor 24 inputs the milk powder into the milk liquid stirring tank 231, the first solenoid valve 241 is in an open state. After the milk powder quantitative conveyor 24 finishes conveying the milk powder, the first solenoid valve 241 is in a closed state. By closing the discharge port of the screw conveyor through the first solenoid valve 241, the milk powder in the milk powder storage tank 22 and the screw conveyor can be prevented from absorbing the moisture in the milk liquid stirring tank 231, thereby avoiding the occurrence of the milk powder getting damp and agglomerating.

[0030] Please see Figure 3Further, in the above embodiment, the water storage tank 21 is an insulated water tank, which is filled with hot water that meets the feeding temperature. The use of hot water to prepare milk powder can increase the dissolution rate of milk powder and provide calves with a suitable milk temperature. The milk temperature is crucial to the health of calves. If the milk temperature is too low, it may cause the calf's digestive system to be stimulated, causing diarrhea and other problems. The optimal milk temperature for calf feeding is 35°C-38°C. During the movement of the calf automatic feeding robot between the two calf islands 90, there will be a time interval in the middle. In order to avoid the temperature of the milk cached in the pipeline that is transported to the feeding nipple 32 from decreasing, a milk heating box 35 is also provided on the milk feeding mechanism 30. The milk heating box 35 is arranged between the milk delivery pump 33 and the feeding nipple 32, and is close to the feeding nipple 32. The output end of the milk delivery pump 33 is connected to the inlet of the milk heating box 35, and the outlet of the milk heating box 35 is connected to the input end of the feeding nipple 32. The milk delivered to the feeding nipple 32 by the milk delivery pump 33 flows through the milk heating box 35. The milk heating box 35 is provided with a thermocouple and a milk temperature sensor. The thermocouple and the milk temperature sensor are electrically connected to the feeding controller 60 respectively. The milk temperature sensor detects the temperature of the milk flowing through the milk heating box 35 and transmits the milk temperature to the feeding controller 60. The feeding controller 60 controls the thermocouple in the milk heating box 35 according to the milk temperature to heat the milk flowing therein so as to keep the milk at 35° C.-38° C.

[0031] Please see Figure 1 , Figure 4 and Figure 6 Furthermore, the self-moving frame 10 is also provided with a cleaning tank 70, an acid and alkali liquid storage tank 71 and a cleaning pump 72. The cleaning tank 70 is arranged on the side of the self-moving frame 10 facing the calf island 90 and is located below the mechanical arm 31. After the feeding controller 60 controls the mechanical arm 31 to retract from the feeding window 91 of the calf island 90, the feeding nipple 32 can be extended into the cleaning tank 70. A cleaning nozzle 73 is arranged on the inner side wall of the cleaning tank 70. The injection end of the cleaning nozzle 73 is directly facing the feeding nipple 32 extended into the cleaning tank 70. The output end of the cleaning pump 72 is connected to the input end of the cleaning nozzle 73, and the input end of the cleaning pump 72 is connected to the acid and alkali liquid storage tank 71. The cleaning pump 72 is electrically connected to the feeding controller 60, and is controlled by the feeding controller 60 to transport the acid and alkali liquid stored in the acid and alkali liquid storage tank 71 to the cleaning nozzle 73, so as to clean and disinfect the feeding nipple 32 entering the cleaning tank 70.

[0032] Please continue to see Figure 4Furthermore, a wastewater collection tank 74 connected to the cleaning tank 70 is provided below the cleaning tank 70, and the acid and alkali liquid sprayed from the cleaning nozzle 73 to the feeding nipple can flow into the wastewater collection tank 74. A drain port 75 is provided at the lower end of the wastewater collection tank 74, and a normally closed valve is provided on the drain port 75. When the acid and alkali liquid collected in the wastewater collection tank 74 reaches saturation, the normally closed valve can be manually opened to discharge the acid and alkali liquid to a designated place for treatment. In this way, the acid and alkali liquid can be prevented from polluting the breeding area.

[0033] Please continue to see Figure 1 Furthermore, in the cold winter season in the north, the outdoor temperature is low. In order to prevent the calf automatic feeding robot from freezing, the self-moving frame 10 is a box body that is sealed on all sides. The box body is made of insulation board. The walking wheel 11 and the driving motor 12 that drives the walking wheel 11 to rotate are arranged at the bottom of the box body. The milk mixing mechanism 20, the milk feeding mechanism 30 and the acid and alkali liquid storage tank 71 are all arranged in the box body. A channel 13 is provided on the side of the box body facing the calf island 90 for the mechanical arm 31 to extend to the feeding window 91 of the calf island 90. The cleaning tank 70 is arranged at the lower end of the channel 13. A channel opening device 80 that can close or open the channel 13 is also provided on the side of the box body where the channel 13 is opened. The channel opening device 80 includes a telescopic push rod 81 and a movable door 82. A slide rail 83 is arranged on the outer side of the opening of the channel 13 in parallel with its opening direction, and the movable door 82 is installed on the slide rail 83. The telescopic push rod 81 is arranged at one end of the slide rail 83, connected to the movable door 82, and can push the movable door 82 to slide along the slide rail 83, so as to open or close the channel 13 through the movable door 82. The telescopic push rod 81 is an electric push rod, which is electrically connected to the feeding controller 60 and is controlled by the feeding controller 60 to be extended and retracted. When the feeding operation is completed, the feeding controller 60 controls the telescopic push rod 81 to push the movable door 82 to close the channel 13, so as to block the mechanical arm 31 in the channel 13, and to seal the cleaning tank 70 in the channel 13, so as to prevent the feeding nipple 32 arranged on the mechanical arm 31 from freezing.

[0034] Please continue to see Figure 1Furthermore, obstacle detection sensors 14 are respectively provided on one side of the forward and backward directions of the self-moving frame 10, and the obstacle detection sensors 14 are electrically connected to the feeding controller 60, and the obstacle detection sensors 14 are an ultrasonic sensor or a laser radar. During the movement of the automatic calf feeding robot, the obstacle detection sensors 14 monitor the people or obstacles in the moving direction of the automatic calf feeding robot in real time. Once the obstacle detection sensor 14 detects that an obstacle or a person is approaching, the obstacle detection sensor 14 will immediately send a signal to the feeding controller 60, and the feeding controller 60 controls the self-moving frame 10 to stop or adjust the motion trajectory according to the detection signal of the obstacle detection sensor 14, so as to prevent the automatic calf feeding robot from colliding with people or objects, thereby ensuring the safety of personnel and equipment and avoiding equipment damage or safety accidents.

[0035] Please continue to see Figure 1 Furthermore, cameras 15 are respectively arranged on one side of the forward and backward directions of the self-moving frame 10, and the camera 15 is electrically connected to the feeding controller 60. The camera 15 can collect the surrounding environment of the calf automatic feeding robot.

[0036] Please see again Figure 7 and Figure 8 In a preferred embodiment, the calf islands 90 in the calf breeding area are arranged side by side. In order to facilitate the efficient operation of the calf automatic feeding robot, a guide rail 92 is laid in parallel on one side of the calf island 90 where the feeding window 91 is set. The guide rail 92 extends parallel to each calf island 90 and is laid. The guide rail 92 matches the running wheel 11 of the self-moving frame 10. The running wheel 11 of the self-moving frame 10 is mounted on the guide rail 92 and can be moved along the guide rail 92 to the feeding window 91 of each calf island 90.

[0037] When the calf automatic feeding robot is used, it is necessary to manually add milk powder, hot water and acid and alkali solution for cleaning to the milk powder storage tank 22, the water storage tank 21 and the acid and alkali solution storage tank 71. In order to facilitate the addition of milk powder, hot water and acid and alkali solution, an acid and alkali solution filling port 76 and a milk powder filling port 221 are respectively provided at the upper end of the self-moving frame 10, and the acid and alkali solution filling port 76 and the milk powder filling port 221 are respectively connected to the milk powder storage tank 22 and the acid and alkali solution storage tank 71 provided in the self-moving frame 10, and a hot water filling port 211 connected to the water storage tank 21 is provided on one side of the self-moving frame 10.

[0038] In the early stage of feeding, the automatic calf feeding robot needs to be manually guided to feed. By manually guiding the calf to suck the feeding nipple 32, the calf is trained to have a sucking habit and adapt to the automatic feeding of the automatic calf feeding robot.

[0039] When the calf automatic feeding robot performs feeding operations, the feeding time and the feeding order of the calves in the calf island 90 are set in the feeding controller 60. The feeding controller 60 controls the self-moving frame 10 to move along the guide rail 92 to each calf island 90 according to the feeding time and feeding order set therein, and controls the milk mixing mechanism 20 and the milk feeding mechanism 30 to feed milk to the calves raised in each calf island 90. During the feeding process, the feeding controller 60 calculates and obtains the milk according to the delivery amount of the milk delivery pump 33. The amount of food sucked by each calf, for example, when one of the calves does not eat well and stops eating, the feeding controller 60 calculates the remaining amount of milk in the milk mixing tank 231 based on the amount of milk that the calf should eat minus the delivery amount of the milk delivery pump 33, and when feeding the next calf, the feeding controller 60 controls the milk preparation mechanism 20 to reduce the input amount of milk powder and water into the milk mixing tank 231. The reduced input amount should be equal to the remaining amount of milk in the milk mixing tank 231 to avoid waste during secondary feeding.

[0040] What is disclosed above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A calf automatic feeding robot, characterized in that: The invention comprises a self-moving frame, a milk mixing mechanism installed on the self-moving frame, a milk feeding mechanism, a calf information collector, a locator and a feeding controller, wherein the self-moving frame, the milk mixing mechanism, the milk feeding mechanism, the calf information collector and the locator are electrically connected to the feeding controller respectively, the milk output end of the milk mixing mechanism is connected to the milk input end of the milk feeding mechanism, the locator locates the feeding window of the calf island for breeding calves, and transmits the positioning signal to the feeding controller, the feeding controller receives the positioning signal of the locator, and According to the positioning signal, the self-moving frame is controlled to move to the feeding window of the corresponding calf island. The calf information collector reads the calf information in the calf island and transmits the calf information to the feeding controller. The feeding controller receives the calf information and controls the milk mixing mechanism to mix the corresponding amount of milk for feeding the calf according to the calf information, and transmits the mixed milk to the milk feeding mechanism. The feeding controller controls the milk feeding mechanism to extend into the feeding window of the corresponding calf island to feed the calf raised in the calf island with milk.

2. The automatic calf feeding robot according to claim 1, characterized in that: The milk mixing mechanism comprises a water storage tank, a milk powder storage tank and a milk stirring device. The outlet of the milk powder storage tank is provided with a milk powder quantitative conveyor. The output port of the milk powder quantitative conveyor is connected with the feed port of the milk stirring device. The water outlet of the water storage tank is connected with the water inlet of the milk stirring device. A metering pump is provided on the water outlet of the water storage tank. The milk stirring device, the milk powder quantitative conveyor and the metering pump are electrically connected with a feeding controller respectively. The feeding controller controls the milk powder quantitative conveyor to convey a certain amount of milk powder to the milk stirring device according to the information of the calf to be fed, controls the metering pump to convey a certain amount of water to the milk stirring device, and controls the milk stirring device to stir and mix into milk.

3. The automatic calf feeding robot according to claim 2, characterized in that: The milk feeding mechanism comprises a mechanical arm, a feeding nipple and a milk delivery pump, one end of the mechanical arm is fixed on a self-moving frame, the feeding nipple is arranged at the other end of the mechanical arm, the output end of the milk stirring device is connected with the input end of the milk delivery pump, the output end of the milk delivery pump is connected with the feeding nipple, an induction valve is arranged at the input end of the feeding nipple, the mechanical arm, the milk delivery pump and the induction valve are respectively electrically connected with a feeding controller, the feeding controller controls the mechanical arm to extend the feeding nipple into the feeding window of the corresponding calf island according to the positioning signal, after the induction valve senses the suction force of the calf sucking the feeding nipple, the induction valve transmits a suction signal to the feeding controller, after the feeding controller receives the suction signal, the milk delivery pump is controlled to quantitatively deliver milk to the feeding nipple.

4. The automatic calf feeding robot according to claim 3, characterized in that: The milk stirring device comprises a milk stirring tank, a stirring motor and a stirring paddle, wherein the stirring motor is arranged at the bottom of the milk stirring tank, the stirring paddle is arranged in the milk stirring tank and is connected to the stirring motor shaft, the water outlet of the water storage tank is connected to the water inlet of the milk stirring tank, the output port of the milk powder quantitative conveyor is connected to the feed port of the milk stirring tank, the feeding controller controls the water in the water storage tank and the milk powder in the milk powder storage tank to be added into the milk stirring tank according to a preset ratio, and controls the stirring motor to drive the stirring paddle to stir in the milk stirring tank.

5. The automatic calf feeding robot according to claim 4, characterized in that: The milk powder quantitative conveyor is a screw conveyor, and a first solenoid valve is arranged at the discharge port of the screw conveyor.

6. The automatic calf feeding robot according to claim 3, characterized in that: The milk feeding mechanism also includes a milk heating box, which is arranged between the milk delivery pump and the feeding nipple, the output end of the milk delivery pump is connected to the inlet of the milk heating box, and the outlet of the milk heating box is connected to the input end of the feeding nipple. The milk delivered to the feeding nipple by the milk delivery pump flows through the milk heating box, and the milk heating box heats the milk flowing therein.

7. The automatic calf feeding robot according to claim 3, characterized in that: The self-moving frame is also provided with a cleaning tank, an acid and alkali solution storage tank and a cleaning pump. After the feeding controller controls the mechanical arm to retract from the feeding window of the calf island, the feeding nipple can be extended into the cleaning tank. A cleaning nozzle facing the feeding nipple is provided on the inner side wall of the cleaning tank. The output end of the cleaning pump is connected to the cleaning nozzle, and the input end of the cleaning pump is connected to the acid and alkali solution storage tank to transport the acid and alkali solution stored in the acid and alkali solution storage tank to the cleaning nozzle, so as to clean and disinfect the feeding nipple entering the cleaning tank.

8. The automatic calf feeding robot according to claim 7, characterized in that: The self-moving frame is a box body that is sealed on all sides, and a running wheel and a driving motor that drives the running wheel to rotate are arranged at the bottom of the box body. The milk mixing mechanism, the milk feeding mechanism and the acid and alkali liquid storage tank are all arranged in the box body. A channel for the feeding window for the mechanical arm to extend to the calf island is opened on the side of the box body facing the calf island. A channel opening device that can close or open the channel is also arranged on the side of the box body where the channel is opened. The channel opening device includes a telescopic push rod and a movable door. A slide rail is arranged on the channel opening, and the movable door is installed on the slide rail. The telescopic push rod is arranged at one end of the slide rail and is connected to the movable door, and can push the movable door to slide along the slide rail to open or close the channel through the movable door. After the movable door closes the channel, the mechanical arm can be blocked in the channel to prevent the feeding nipple arranged on the mechanical arm from freezing.

9. The automatic calf feeding robot according to claim 7 or 8, characterized in that: Obstacle detection sensors are respectively arranged on one side of the forward and backward directions of the self-moving frame, and the obstacle detection sensors are electrically connected to the feeding controller. Obstacles in the moving direction of the self-moving frame are monitored in real time through the obstacle detection sensors.

10. The automatic calf feeding robot according to claim 9, characterized in that: It also includes a guide rail that matches the running wheels of the self-moving frame. The guide rail is laid parallel to and extends along one side of each calf island where a feeding window is set. The running wheels of the self-moving frame are set on the guide rail and can move along the guide rail to the feeding window of each calf island.

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