Feeders for animals

Abstract

This invention relates to a feeder for animals, comprising: a food compartment having a food passage configured to store successive food blocks; a food delivery assembly including an opening and closing portion and switchable between an open and closed state, defining a closed chamber in the closed state and an open chamber in the open state, the chamber being in communication with or communicatively connected to an outlet of the food passage; and a pusher for pushing food blocks stored in the food passage along the longitudinal direction of the food passage, and pushing at least one food block preceding it along the pushing direction from the food passage into the chamber of the food delivery assembly. The feeder according to the invention selectively delivers food to the animal by selectively opening or closing the opening and closing portion and / or selectively pushing the pusher out the food, avoiding the animal taking too much food at once, thereby optimizing the effectiveness of animal feeding training. The invention also relates to a feeder system comprising multiple feeders as described above.

Description

Technical Field

[0001] This invention relates to the technical field of animal products, and in particular to a feeder for animals, such as non-human primates. Background Technology

[0002] Currently, there are many types of animal feeders on the market, including multi-functional feeders for pets such as cats, dogs, birds, and fish, as well as feeding devices for livestock such as pigs, cattle, and sheep. The mechanical structure and electronic functions of the feeders need to be designed accordingly to suit the different feeding methods and characteristics of various animals.

[0003] For example, patent CN217407489U relates to an automatic pet feeding crate, including a feeder, an adjustment device, and a control module. The feeder can provide both liquid and solid food, the adjustment device controls the connection or closure of two different outlets, and the control module controls the rotation of a motor mounted at the adjustment position and the on / off state of an indicator LED. While this patent discloses an automatic feeding function, it is only suitable for very small pets (such as spiders and geckos) and cannot control the amount of food dispensed each time.

[0004] Patent application CN114027211A discloses an STM32-based intelligent pet feeding system, comprising multiple modules including a microcontroller control module, an infrared sensor and pressure sensor module, a buzzer reminder module, a display module, a motor module, a button module, and a lighting module. The system allows users to set feeding times via buttons; upon reaching the preset time, the system lights turn on, and the buzzer sounds to alert the animal to feed. The infrared sensor detects whether the animal is approaching for food, and the pressure sensor detects the remaining amount of food. While the disclosed technology achieves a degree of intelligent feeding, it lacks description of the mechanical structure used for feeding, and the mechanical structure shown in the accompanying drawings is small, unable to provide large food pieces or a sufficient quantity of food. Summary of the Invention

[0005] The applicant of this invention has discovered that some animals with high intelligence, especially non-human primates (such as rhesus monkeys and cynomolgus monkeys), are agile and highly alert, and possess a strong curiosity about their environment. Therefore, in scientific research, improvements to existing feeders are needed to optimize animal feeding training.

[0006] The purpose of this application is to provide a feeder for animals that overcomes at least one of the disadvantages of the prior art to optimize animal feeding training. For example, the feeder can controllably deliver food to the animal, increase the food loading capacity, improve feeding flexibility, facilitate control, and enhance reliability.

[0007] A first aspect of the present invention relates to a feeder for animals, comprising:

[0008] A food compartment having a food passage configured to store consecutive food blocks;

[0009] A food serving assembly includes an opening and closing part that can switch between an open state and a closed state. In the closed state, the opening and closing part defines a closed chamber, and in the open state, the opening and closing part opens the chamber. The chamber is connected to or is connectable to the outlet of the food channel.

[0010] A pusher configured to push a food block stored in the food channel along the longitudinal direction of the food channel, and to push at least one food block that is in front along the pushing direction from the food channel into the chamber of the food presentation assembly.

[0011] The feeder according to the invention can deliver food to an animal in a controlled manner by selectively opening or closing the opening and / or selectively pushing the food out by the pusher, which can prevent the animal from taking too much food at once, thereby optimizing the effect of feeding training.

[0012] In some implementations, the feeder is configured for use with non-human primates.

[0013] In some embodiments, the feeder further includes a drive system configured to manipulate the opening and closing portion, the pusher, and relative movement of the food compartment and the food delivery assembly that causes the outlet of the chamber to communicate with the food passage.

[0014] In some embodiments, the feeder further includes a control system configured to control the operation of the drive system by sending operating commands to the drive system.

[0015] In some embodiments, the food compartment includes a plurality of food channels, each configured to hold a stack of consecutive food blocks, the plurality of food channels and the opening and closing portion being movable relative to each other, such that any one food channel can communicate with the chamber through its outlet, while the other food channels are separated from the chamber.

[0016] In some embodiments, the food compartment is configured as a wheel that is rotatable about a longitudinal axis. The wheel has a plurality of slots spaced apart around the longitudinal axis, each slot forming a food passage. The outlet of any slot can be aligned with the inlet of the chamber by the rotation of the wheel around the longitudinal axis.

[0017] In some embodiments, each groove extends parallel to the longitudinal axis and has a slit extending parallel to the longitudinal axis, through which the groove opens toward the outer peripheral surface of the wheel.

[0018] In some embodiments, the plurality of slots are provided with a common pusher that is linearly movable into and out of a selected slot, the selected slot being aligned with the entrance of the chamber by means of a wheel rotating about a longitudinal axis, and the pusher being guided along the gap of the selected slot.

[0019] In some embodiments, the plurality of slots are provided with a common pusher that is movable into and out of a selected slot, the selected slot being aligned with the inlet of the chamber by means of a wheel rotating about a longitudinal axis.

[0020] In some embodiments, the feeder further includes a base to which the wheel is detachably mounted at a first axial end and configured to pivot relative to the base about a pivot axis transverse to the longitudinal axis, the wheel being detachably held to the base at another second axial end opposite the first axial end.

[0021] In some embodiments, the feeder includes a housing housing the wheel, the housing including an openable and closable hatch, wherein when the hatch is opened, the wheel can be removed outside the housing by releasing a second axial end of the wheel, then pivoting the wheel about a pivot axis, and then disengaging a first axial end of the wheel from the base.

[0022] In some embodiments, the opening and closing portion includes a plurality of lobes arranged in a circumferential direction. In the open state of the opening and closing portion, the plurality of lobes are spaced apart from each other to open the chamber. In the closed state of the opening and closing portion, the plurality of lobes are close together to close the chamber.

[0023] In some embodiments, the plurality of lobes are configured to form a spherical shape with a concave top when the opening and closing portion is in the closed state.

[0024] In some embodiments, the food serving assembly further includes a base, each of the plurality of petals being hinged to the base at a hinge and being pivotable about the hinge via a motion mechanism.

[0025] In some embodiments, the motion mechanism includes a slider and a connecting rod, wherein the motion mechanism and the plurality of petals are configured such that: when the slider moves toward the opening / closing portion, the plurality of petals pivot about their respective pivots and move away from each other, thereby causing the opening / closing portion to change from a closed state to an open state; when the slider moves away from the opening / closing portion, the plurality of petals pivot about their respective pivots and move closer to each other, thereby causing the opening / closing portion to change from an open state to a closed state.

[0026] In some embodiments, the feeder further includes a drive system comprising a first drive mechanism for manipulating the wheel, a second drive mechanism for manipulating the pusher, and a third drive mechanism for manipulating the opening and closing portion.

[0027] In some embodiments, the feeder further includes a drive system configured to manipulate the opening and closing portion, the pusher, and relative motion between the wheel and the food delivery assembly, causing the chambers to communicate with the outlets of the respective slots. The feeder also includes a control system configured to control the operation of the drive system by sending operating commands to the drive system, the operating commands including opening and closing commands, and the control system is capable of determining whether there is a food block in the chamber.

[0028] The feeder also includes a first position sensor configured to detect the distance between the animal and the feeder. The first position sensor is communicatively connected to the control system, wherein the control system is configured to...

[0029] - In response to an animal approaching the feeder and the distance becoming less than a first threshold, an opening command is sent to the drive system, causing the drive system to open the opening / closing section; and

[0030] - In response to the control system determining that there is no food block in the chamber and the animal is far away from the feeder such that the distance is greater than or equal to the first threshold, a closing command is sent to the drive system, thereby causing the drive system to change the opening and closing part to the closed state.

[0031] In some embodiments, the operating instructions further include a propulsion instruction, and the control system can also determine whether the pusher is aligned with a slot of the wheel, and whether there is a food block in the slot aligned with the pusher.

[0032] During the period from when the opening and closing part is in the closed state to when the opening and closing part changes from the next open state to the next closed state, and when the pusher is aligned with a slot including a food block, the control system can send a push command to the drive system to move the pusher toward the opening and closing part a predetermined distance to push at least one food block stored in the slot into the chamber.

[0033] In some embodiments, the control system is configured to determine that there is no food block in the slot aligned with the pusher after the pusher has moved toward the opening and closing portion a certain number of times in the aligned slot.

[0034] In some implementations, the propulsion command includes a step length and a number of steps, and the predetermined distance is the product of the step length and the number of steps, wherein the step length is matched to the size of the food block.

[0035] In some embodiments, the operation command further includes a removal command, and the control system can also determine whether the pusher is located in the slot. If the control system determines that there is no food block in the slot aligned with the pusher and that the pusher is located in the slot, the control system can send a removal command to the drive system to cause the pusher to move away from the joint to the outside of the slot.

[0036] In some embodiments, the operation command further includes a rotation command, and the control system can also determine whether there is a food block in the wheel. If the control system determines that there is no food block in the slot aligned with the pusher but there is still a food block in the wheel and the pusher is located outside the slot, the control system can send a rotation command to the drive system to rotate the wheel by a certain angle, thereby aligning another slot with the pusher.

[0037] In some embodiments, the angle between any two adjacent slots of the wheel is equal to that between each other, the rotation command includes a step angle and a number of steps, and the certain angle is the product of the step angle and the number of steps, wherein the step angle matches the angle between two adjacent slots.

[0038] In some embodiments, the operating instructions further include a pusher reset instruction, wherein the control system is configured to send the pusher reset instruction to the drive system before the pusher first moves into the slot, thereby causing the pusher to move to a specific position outside the slot.

[0039] In some embodiments, the operating instructions further include a wheel reset instruction, wherein the control system is configured to send the wheel reset instruction to the drive system before the pusher first moves into the slot, thereby causing the wheel to move so that the pusher is aligned with a slot.

[0040] In some embodiments, the feeder includes a wheel position calibration sensor capable of sensing whether the pusher is aligned with the slot. When the pusher is aligned with the slot, the control system can send a calibration signal to the drive system to prevent the wheel from moving.

[0041] In some embodiments, the wheel position calibration sensor is a Hall sensor, which includes a magnet and a magnetic proximity switch.

[0042] In some embodiments, the operating instructions further include an opening / closing portion reset instruction, wherein the control system is configured to send the opening / closing portion reset instruction to the drive system before the pusher first moves into the slot, thereby causing the opening / closing portion to switch to a closed state.

[0043] In some embodiments, the feeder includes a lighting device communicatively connected to the opening / closing portion, the lighting device being configured to illuminate in response to the opening / closing portion changing to a closed state and to extinguish in response to the opening / closing portion changing to an open state.

[0044] In some implementations, the control system is configured to enable the feeder to operate fully automatically, and / or the control system is capable of receiving operating instructions input by a user, allowing the operation of the feeder to be manually intervened.

[0045] In some embodiments, the feeder includes a user input system communicatively connected to the control system to send operation instructions to the control system via user input.

[0046] In some embodiments, the feeder includes a display module that displays information selected from the group consisting of: the position of the pusher, the position of the wheel, the state of the opening and closing portion, the remaining amount of food in the slot aligned with the pusher, and the remaining amount of food in the wheel, and the user input system is integrated on the display module in the form of touch buttons.

[0047] In some implementations, the feeder can be wirelessly connected to a computer or mobile phone.

[0048] A second aspect of the invention relates to a feeder system comprising: a plurality of feeders according to the above description, the feeder system including a user interface communicatively connected to the control system of each feeder, thereby enabling operation commands to be sent to the control system of each feeder via the user interface.

[0049] Other features and advantages of the subject matter of the present invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the subject matter of the present invention. The advantages of the subject matter of the present invention will be realized and obtained through the structures particularly pointed out in the written description and the accompanying drawings.

[0050] It should be understood that the foregoing general description and the following detailed description are exemplary and illustrative, and are intended to provide further explanation of the subject matter of the claimed invention. Attached Figure Description

[0051] Those skilled in the art will understand the advantages of the respective embodiments and various other embodiments by referring to the following detailed description of the corresponding embodiments with reference to the accompanying drawings. Furthermore, the various features in the drawings discussed below are not necessarily drawn to scale. The dimensions of the various features and elements in the drawings may be enlarged or reduced to more clearly illustrate embodiments of the invention.

[0052] Figure 1 A perspective view of a feeder according to some embodiments of the present invention is shown;

[0053] Figure 2 It shows Figure 1 A 3D view of the feeder, in which the feeder's hatch is open;

[0054] Figure 3 It shows Figure 1 A perspective view of the feeder, in which the feeder's casing has been removed to clearly show the various components inside the feeder;

[0055] Figure 4 It shows Figure 1 A top sectional view of the wheel and push rod, wherein one groove of the wheel is aligned with the push rod;

[0056] Figure 5 It shows Figure 1 A side sectional view of the feeder, showing that the slots of the wheel are filled and the push rod is located outside the slots;

[0057] Figure 6 It shows Figure 1 A side sectional view of the feeder, wherein a push rod is located inside a slot and a food block is ejected into the chamber of the food delivery assembly;

[0058] Figure 7 It shows Figure 1 A cross-sectional view of the food delivery component of a feeder, wherein the opening and closing portion of the food delivery component is in the closed state;

[0059] Figure 8 It shows Figure 1 A cross-sectional view of the food presentation component of a feeder, wherein the opening and closing portion of the food presentation component is in an open state, allowing the animal to access and take food blocks located in the chamber;

[0060] Figure 9 It shows Figure 1 A top sectional view of the rotor, showing the rotor position calibration sensor used to calibrate the position of the rotor;

[0061] Figure 10 A schematic block diagram illustrating the connection relationship between the control system and other modules according to some embodiments of the present invention is shown. Detailed Implementation

[0062] The following describes various illustrative embodiments of the present invention. In this specification, various systems, structures, and devices are schematically depicted in the accompanying drawings for illustrative purposes only, and not all features of actual systems, structures, and devices are described. For example, well-known functions or structures are not described in detail to avoid unnecessary detail that could obscure the invention. It should be understood that in any practical application, many specific implementation decisions need to be made to achieve the specific goals of the developer or user, and to comply with system-related and industry-related limitations, which may vary depending on the specific application. Furthermore, it should be understood that while such implementation decisions are complex and time-consuming, they are routine tasks for those skilled in the art who benefit from this application.

[0063] The terms and phrases used herein should be understood and interpreted in accordance with the understanding of those skilled in the art. The consistent use of terms or phrases herein is not intended to imply a specific definition, i.e., a definition different from the common and conventional meaning understood by those skilled in the art. For terms or phrases intended to have a specific meaning, i.e., a meaning different from that understood by those skilled in the art, such specific definition will be explicitly listed in the specification, giving the specific definition of the term or phrase directly and unambiguously.

[0064] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0065] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0066] Figure 1 A perspective view of a feeder according to some embodiments of the present invention is shown; Figure 2 It shows Figure 1 A 3D view of the feeder, showing the feeder's hatch open, allowing the user to access and retrieve the wheels. Figure 3 It shows Figure 1 A perspective view of a feeder, wherein the outer shell of the feeder has been removed to clearly show the various components inside the feeder. The feeder according to an exemplary embodiment of the invention can, for example, be configured for use with non-human primates.

[0067] like Figures 1 to 3 As shown, the feeder 1 may include a main body 2 and a food delivery component 3 disposed above the main body 2. The main body 2 is used to transport food blocks, and the food delivery component 3 is used to deliver the food blocks to the animal. The food blocks may be, for example, hard food blocks such as apple slices. The main body 2 may include a housing 21 and a base 22. The housing 21 can be used to protect and house the various components used for transporting the food blocks, and the base 22 can be used to support the various components used for transporting the food blocks. The housing 21 and the base 22 are located in... Figures 1 to 3 The figures are shown as being constructed to be separable from each other. It should be understood that in other embodiments not shown, the housing 21 and the base 22 may also be integrated as a single unit.

[0068] like Figure 3 As shown, the feeder 1 may include a rotating wheel 4, which can be used as a food bin for storing food blocks. The rotating wheel 4 may be detachably mounted to the base 22 at a first axial end (e.g., via various known mechanical connections) and configured to rotate relative to the base 22 at that first axial end. Optionally, a second axial end of the rotating wheel 4 opposite the aforementioned first axial end may be detachably held to the base 22. It should be understood that the rotating wheel 4 may also be non-detachably mounted to the base 22. The rotating wheel 4 may, for example, be driven to rotate by a first motor 51. Figure 3As shown, in some embodiments, the wheel 4 can be detachably attached to the mounting portion 23, and the mounting portion 23 can be pivotally connected to the base 22 via a mounting shaft 24. The axis of the mounting shaft 24 can be arranged transversely to the longitudinal axis of the wheel 4. It should be understood that in other embodiments not shown, the wheel 4 can be directly pivotally connected to the base via the mounting shaft 24. Figure 1 and 2 As shown, the housing 21 may include a hatch 25. When the hatch 25 is open, a user can access and retrieve the wheel 4. For example, the user can move the wheel 4 outside the housing 21 by releasing the second axial end of the wheel 4 and then rotating the wheel 4 about the mounting shaft 24. Optionally, when the wheel 4 is moved outside the housing 21, the wheel 4 can be detached from the base 22.

[0069] The rotating wheel 4 can be configured to be generally cylindrical (e.g., cylindrical) and capable of rotating about its longitudinal axis. The rotating wheel 4 may include one or more slots 41, which can be used as food channels for receiving food blocks, and a stack of food blocks can be stored sequentially in each slot 41. For example, the rotating wheel 4 may include a plurality of slots 41 spaced apart around its longitudinal axis. The cross-section of the slots 41 may be, for example, circular, square, etc. Preferably, each slot 41 can be generally elongated and can be configured to extend parallel to the longitudinal axis of the rotating wheel 4, for example... Figure 5 As shown in the diagram, each slot 41 may have a slit 42 extending parallel to the longitudinal axis of the wheel 4, and the slot 41 may open toward the outer peripheral surface of the wheel 4 through the slit 42. Preferably, the opening at the lower end of the slot 41 may be configured to narrow inward to prevent food pieces from falling out of the slot 41. Preferably, the angle between any two adjacent slots 41 of the wheel 4 may be configured to be equal to each other.

[0070] Further reference Figure 5 and Figure 6The feeder 1 may include a pusher 5, which can be used to push food blocks 20 stored therein along slots 41. For example, when the slots 41 of the wheel 4 are aligned with the pusher 5, the pusher 5 can move into a selected slot 41 to push the food block 20 in that selected slot 41, or it can leave the selected slot 41 (e.g., when the food block 20 in the selected slot 41 is consumed). The movement of the pusher 5 may be linear, and the pusher 5 may be configured to be parallel to the extension direction of the aligned slot 41. The feeder 1 may be equipped with only one common pusher 5 for all slots 41, or it may be equipped with multiple pushers 5 (e.g., pushers 5 may be provided for each slot 41 separately). When the feeder 1 is equipped with only one pusher 5, the wheel 4 may rotate such that each slot 41 is aligned with the pusher 5. It should be understood that in other embodiments, the pusher 5 may also rotate about the longitudinal axis of the wheel 4 to align with each slot 41. When the push rod 5 moves in the groove 41, the push rod 5 can be guided along the gap 42 of the groove 41.

[0071] The push rod 5 can be driven by a second motor 52 to move along the longitudinal direction of the groove 41. In some embodiments, the push rod 5 can be attached to a belt slide rail module 54, and the second motor 52 can drive the movement of the push rod 5 by driving the belt slide rail module 54.

[0072] like Figures 1 to 3 ,as well as Figure 5 and 6 As shown, the food serving component 3 may include an opening / closing portion 31. (As illustrated...) Figure 7 and 8 As shown, the opening / closing part 31 can switch between an open state and a closed state for selectively presenting the food block 20 to the animal. In the closed state, the opening / closing part 31 defines a closed chamber 32, making the chamber 32 inaccessible to the animal. In the open state, the opening / closing part 31 opens the chamber 32, allowing the animal access to it. The opening / closing part 31 can, for example, be driven by a third motor 53 to switch between the open and closed states.

[0073] In some embodiments, the chamber 32 may be configured such that its inlet aligns sequentially with the outlets of the respective slots 41 of the wheel 4 and communicates with each slot 41 by rotation of the wheel 4 about its longitudinal axis. In other embodiments, the opening / closing portion 31 may also align the inlet of the chamber 32 with the outlets of the respective slots 41 of the wheel 4 and communicate with each slot 41 by movement about its longitudinal axis. When the outlet of one slot 41 aligns with the chamber 32, the remaining slots 41 of the wheel 4 may be separated from the chamber 32. When the chamber 32 is aligned with and communicates with one slot 41 of the wheel 4, and when the push rod 5 pushes the food block 20 stored in the slot 41 along the longitudinal direction of the slot 41, the push rod 5 can push at least one food block 20 that is in the leading position along the pushing direction into the chamber 32.

[0074] In other embodiments not shown, the rotating wheel 4 may be replaced by other forms of food compartments. For example, the rotating wheel 4 may be replaced by a magazine-type food compartment, allowing the respective food channels of the food compartment to be aligned with the push rod 5 by relative translational movement between the food compartment and the push rod 5, and the respective food channels to be aligned with the chamber 32 of the food delivery assembly 3 by relative translational movement between the food compartment and the food delivery assembly 3. In other embodiments not shown, the push rod 5 may be replaced by other forms of pushers, as long as they can push the food blocks 20 stored therein along the food channels.

[0075] Multiple food blocks 20 can be configured as independent units or as a single unit. For example, in some embodiments, multiple food blocks 20 can be connected as a whole, and a nominal break can be provided between two consecutive food blocks 20. The feeder 1 may be equipped with a cutter capable of cutting one food block 20 from the whole before each food block 20 is presented into the chamber 32.

[0076] like Figures 1 to 3 as well as Figure 7 and 8 As shown, the opening / closing portion 31 may include a plurality of petals 33 arranged in the circumferential direction. In the open state, the plurality of petals 33 are spaced apart to open the chamber 32; in the closed state, the plurality of petals 33 are brought closer together to close the chamber 32. Figures 1 to 3 As shown, the multiple petals 33 can be configured to form a concave spherical shape when the opening and closing portion 31 is in the closed state, similar to a flower bud. When the multiple petals 33 are far apart from each other, the shape of the opening and closing portion 31 resembles a fully opened flower. This shape of the opening and closing portion 31 is attractive to animals. In some embodiments, the number of petals 33 can be four.

[0077] like Figure 7 and 8 As shown, in some embodiments, the food serving assembly 3 may further include a base 34. The base 34 may be disposed between the rotating wheel 4 and the opening / closing portion 31. The base 34 may include a passageway 38 communicating with the chamber 32 and the slot 41 aligned with the push rod 5. Each petal 33 may be configured to hinge to the base 34 at a hinge 35 and be pivotable about the hinge 35 via a motion mechanism. In some embodiments, the motion mechanism may include a slider 36 and a connecting rod 37. In some embodiments, the motion mechanism and the plurality of petals 33 may be configured such that when the slider 36 moves toward the opening / closing portion 31, the plurality of petals 33 move away from each other about their respective pivots 35, causing the opening / closing portion 31 to change from a closed state to an open state, and when the slider 36 moves away from the opening / closing portion 31, the plurality of petals 33 move closer together, causing the opening / closing portion 31 to change from an open state to a closed state. The opening / closing portion 31 may, for example, be driven by a third motor 53 to change between the open and closed states. For example, the third motor 53 may be configured to drive the slider 36.

[0078] In some embodiments, the feeder 1 may include a drive system capable of driving the movement of the push rod 5 and the opening / closing portion 31. For example, the drive system may be configured to drive the push rod 5 to move along the groove 41 and to drive the opening / closing portion 31 to switch between an open and closed state. The drive system may also be configured to enable relative movement between the opening / closing portion 31 and the rotating wheel 5 to align and / or connect the chamber 32 and the groove 41. For example, the drive system may be configured to drive the rotating wheel 4 to rotate relative to the base 22 about the longitudinal axis of the rotating wheel 4. For example, the drive system may include one or more of the first motor 51, the second motor 52, and the third motor 53 described above. In some embodiments, the first motor 51 and / or the second motor 52 may be a HANPOSE 42 type stepper motor. In some embodiments, the third motor 53 may be an Inspire 28K-2R-25.4 type stepper motor.

[0079] like Figure 10 As shown, in some embodiments, the feeder 1 may include a control system, which may be electrically connected to the drive system to control the operation of the drive system. The control system can be implemented using a microcontroller minimum system module, wherein the controller in the module may be an STM32F103ZET6 chip.

[0080] The control system can be electrically connected to the drive system, for example, via a power conversion module. The power conversion module could be an RT9013-3.3 to output 3.3V, or a TPS5450 chip to output 5V.

[0081] In some embodiments, the control system may be configured to control the operation of the drive system by sending operation commands to the drive system. Operation commands may include, for example, one or more of the following: push rod reset command, wheel reset command, opening / closing part reset command, opening command, closing command, pushing command, removing command, and rotation command. The control device may also be configured to determine one or more of the following: whether there is a food block in the chamber 32, whether the push rod 5 is aligned with a slot 41, whether the push rod 5 is located in the slot 41, whether there is a food block in the slot 41 aligned with the push rod 5, and whether there is a food block in the wheel 4.

[0082] like Figure 1 As shown, the feeder 1 may include a first position sensor 6. The first position sensor 6 may be disposed on the outer surface of the housing 21, for example, and may be communicatively connected to the control system. In some embodiments, the first position sensor 6 may be an infrared sensor, for example, the XKC-KD200 from Xingkechuang. The first position sensor 6 can sense the distance between itself and the animal, and when the distance is less than a first threshold, the first position sensor 6 can send corresponding information to the control system.

[0083] For example, the control system can be configured to send an opening command to the drive system in response to the distance between the first position sensor 6 and the animal being less than a first threshold, thereby causing the drive system to open the opening / closing part 31. Alternatively, the control system can be configured to send a closing command to the drive system in response to the control system determining that there is no food block 20 in the chamber 32 and the distance between the first position sensor 6 and the animal is greater than or equal to the first threshold, thereby causing the drive system to close the opening / closing part 31. Thus, when an animal approaches the feeder 1 to eat, the opening / closing part 31 can open, and when the animal finishes eating and leaves the feeder 1, the opening / closing part 31 can close.

[0084] The feeder 1 may also include one or more additional position sensors that can communicate with the control system and sense the distance to the animal. The control system may be configured to send an open command to the drive system when the distance between the first position sensor 6 and any of the one or more additional position sensors and the animal is less than a first threshold. The control system may also be configured to send a close command to the drive system in response to the control system determining that there is no food block 20 in the chamber 32 and that the distance between the first position sensor 6 and each of the one or more additional position sensors and the animal is greater than or equal to the first threshold. Figure 1As shown, one or more additional position sensors can be second position sensors 8, 8'. The second position sensors 8, 8' can, for example, be disposed on the top surface of the housing 21 to sense the movement of the animal's hand.

[0085] For example, during the period from when the opening / closing part 31 is in the closed state to before the opening / closing part 31 transitions from the next open state to the next closed state, and while the push rod 5 is aligned with a slot 41 containing the food block 20, the control system can send a push command to the drive system to move the push rod 5 a predetermined distance to push the food block 20 stored in the slot 41 into the chamber 32. This arrangement ensures that the push rod 5 pushes out the food only once during the period from when the opening / closing part 31 is closed to the next closed state, thereby preventing the animal from taking too much food at once and better achieving the training objective. The push command may include a step length and a number of steps, and the predetermined distance is the product of the step length and the number of steps. The step length can be matched to the size of the food block 20 so that each movement of the push rod 5 can push out an integer number of food blocks 20.

[0086] In some embodiments, if the control system determines that there is no food block 20 in the slot 41 aligned with the push rod 5 and the push rod 5 is located in the slot 41, the control system can send a removal command to the drive system to cause the push rod 5 to move away from the junction 31 to the outside of the slot 41.

[0087] In some embodiments, if the control system determines that there is no food block 20 in the slot 41 aligned with push rod 5 but there is still food block 20 in the wheel 4, and push rod 5 is located outside slot 41, the control system can send a rotation command to the drive system to rotate the wheel 4 and align push rod 5 with another slot 41. The rotation command may include a step angle and a number of steps, and the certain angle is the product of the step angle and the number of steps. The step angle may be matched with the interval angle between two adjacent slots 41, so that after each rotation of the wheel 4, one slot 41 of the wheel 4 can be aligned with push rod 5.

[0088] In some embodiments, if the control system determines that there is no food block 20 in the slot 41 aligned with the push rod 5 and there is no food block 20 in the wheel 4, and the push rod 5 is located outside the slot 41, the control system prevents the wheel 4 from moving.

[0089] The control system can be configured to determine that there is no food block 20 in the slot 41 after the push rod 5 moves toward the opening / closing portion 31 a certain number of times. For example, each movement of the push rod 5 toward the opening / closing portion 31 can be configured to push out one food block 20 toward the opening / closing portion 31. For example, the certain number of times can be set to be equal to the number of food blocks 20 in the slot 41. The control system can also be configured to determine that there is no food block 20 in the rotating wheel 4 after the rotating wheel 4 rotates a certain number of times. For example, the certain number of times can be set to be equal to the number of slots 41 minus 1.

[0090] The feeder 1 may include a first food sensor (not shown), which, for example, can sense the remaining amount of food lumps 20 in the slot 41 aligned with the push rod 5, so that the control system can determine whether food lumps 20 are present in the slot 41. The feeder may include a second food sensor (not shown), which, for example, can sense the remaining amount of food lumps 20 in the rotating wheel 4, so that the control system can determine whether food lumps 20 are present in the rotating wheel 4. The feeder may include a third food sensor (not shown), which, for example, can sense whether food lumps 20 are present in the chamber 32. The first and / or second and / or third food sensors described above may, for example, be weight sensors. In other embodiments, the first and / or second and / or third food sensors may also be, for example, pressure sensors, photosensors, etc.

[0091] like Figure 7 As shown, in some embodiments, the feeder 1 may include a lighting device 7. Advantageously, the brightness of the lighting device 7 may be adjustable.

[0092] The lighting device 7 can be communicatively connected to the opening / closing portion 31. For example, the lighting device 7 can be configured to illuminate in response to the opening / closing portion 31 turning to the closed state and to turn off in response to the opening / closing portion 31 turning to the open state. The lighting device 7 can be disposed in the chamber 32, for example, on the base 34, so that when the opening / closing portion 31 is closed and the lighting device 7 is illuminated, the feeder 1 can attract an animal to approach the opening / closing portion 31. It should be understood that the lighting device 7 can be disposed in other locations of the feeder 1, for example, on the outer surface of the housing 21.

[0093] In some embodiments, before the push rod 5 first moves into the slot, the control system may send a wheel reset command to the drive system. The drive system may be configured to move the wheel 4 to a specific position in response to the wheel reset command to calibrate the initial position of the wheel 4. At this specific position, a slot 41 of the wheel 4 is aligned with the push rod 5.

[0094] In some embodiments, the feeder 1 may include a wheel position calibration sensor, such as a Hall sensor, for sensing whether the push rod 5 and the slot 41 of the wheel 4 are aligned. The Hall sensor may, for example, be a Bick NJK-H20NP2. Figure 9 As shown, the wheel position calibration sensor may include a magnet 12 and a magnetic proximity switch 13. One of the magnet 12 and the magnetic proximity switch 13 may be disposed on the wheel 4, and the other may be disposed on the base 22. It should be understood that the other switch may also be disposed on other components of the feeder 1, such as the housing 21. For example, as... Figure 9 As shown, the rotary wheel position calibration sensor includes a magnet 12 disposed on the rotary wheel 4 and a magnet disposed on the base 22 (in Figure 3 The magnetic proximity switch 13 is shown in the diagram. When the push rod 5 is aligned with one of the slots 41 of the wheel 4, the control system is able to send a calibration signal to the drive system to stop the wheel 4 from moving.

[0095] In some embodiments, before the push rod 5 first moves into the slot 41, the control system may send a push rod reset command to the drive system. The drive system may be configured to move the push rod 5 to a specific position in response to the push rod reset command to calibrate the initial position of the push rod 5. At this specific position, the push rod 5 is outside the slot 41; for example, this specific position may be the position where the push rod 5 contacts the second motor 52.

[0096] In some embodiments, before the push rod 5 first moves into the slot 41, the control system may send an opening / closing part reset command to the drive system. The drive system may respond to the opening / closing part reset command by changing the opening / closing part 31 to a closed state.

[0097] The control system can be configured to automatically send various operation commands, enabling the feeder 1 to operate fully automatically, and / or the control system can be configured to receive operation commands input by the user, allowing manual intervention in the operation of the feeder 1. When operation commands are set to be sent automatically, these commands can be preset in the control system, enabling the feeder 1 to achieve a high degree of automation and simplified operation. For example, each operation command can be set to be sent by the control system at regular intervals. When operation commands are set to be input by the user, they can be sent at the time desired by the user, allowing the user to intervene in a timely manner to control the operation of the feeder 1 as needed, thereby increasing the reliability of the feeder 1's operation.

[0098] like Figure 10As shown, the feeder 1 may include a user input system. The user input system can be communicatively connected to the control system, allowing the user to send operation commands to the control system via input operations. For example, the user input system can be a button system, and user input operations can be performed through the button system.

[0099] like Figure 10 As shown, the feeder 1 may also include a display module. For example, the display module may be a 3.5-inch TFT LCD touchscreen from Zhengdian Atom. The display module can display information, which may include, for example, one or more of the following: the position of the push rod 5, the position of the rotating wheel 4, the state of the opening / closing part 31, the remaining amount of food block 20 in the slot 41 aligned with the push rod 5, and the remaining amount of food block 20 in the rotating wheel 4. If the user input system is a button system, the button system may be integrated into the display module in the form of touch buttons.

[0100] like Figure 10 As shown, the feeder 1 may also include a wireless connection module. The wireless connection module may be, for example, an ESP8266 module. Through this wireless connection module, the feeder can wirelessly connect to a computer or mobile phone, and the display module and / or button system described in one or more embodiments above can be integrated onto the computer or mobile phone.

[0101] In some embodiments, the various components of the feeder 1, particularly those in contact with the food block 20 (e.g., the wheel 4, the opening and closing part 31, the push rod 5, the passageway 38, the slider 36, etc.), may be made of food-grade polylactic acid (PLA). PLA is non-toxic, renewable, and biodegradable. Synthesized from starch, it can be completely degraded by microorganisms in nature after use, making it an environmentally friendly material.

[0102] The present invention also relates to a feeder system comprising one or more feeders 1 as described herein. The feeder system may further include a user interface (not shown). The user interface may be configured to communicatively connect with the control system of each feeder 1, thereby enabling the transmission of operating instructions to the control system of each feeder 1 via the user interface.

[0103] The feeder 1 according to the present invention can selectively deliver food to animals and features a large food storage capacity and flexible operation. For example, by providing the opening and closing part 31, food can be selectively delivered to animals, preventing them from taking too much food at once and optimizing training results. By providing a rotating wheel 4 with multiple slots 41, a larger amount of food blocks 20 can be filled at once for animal training, reducing the number of times the machine is turned on and off, the rotating wheel 4 is removed and placed, and the food blocks 20 are filled. By enabling the control system to automatically or through user input to send operation commands, the flexibility and reliability of operation are increased, and the user can automatically or manually control the operation of the feeder 1 according to actual needs. The addition of a wireless connection module enables remote control of the feeder 1, further increasing operational flexibility.

[0104] This invention may include any feature or combination of features, or a generalization thereof, whether implicitly or explicitly disclosed, and is not limited to any of the defined scopes listed above. Any elements, features, and / or structural arrangements described herein may be combined in any suitable manner.

[0105] The specific embodiments of the invention described above are merely exemplary, and it will be apparent to those skilled in the art, who benefit from the teachings herein, that the invention can be modified and practiced in different but equivalent ways. It is obvious that changes and modifications can be made to the specific embodiments of the invention described above, and all such modifications are considered to fall within the scope and spirit of the invention.

Claims

1. A feeder for animals, the feeder comprising: A food storage compartment having a food passage configured to store consecutive food blocks; Food serving components; A pusher configured to push a food block stored in the food channel along the longitudinal direction of the food channel, and to push at least one food block that is in front along the pushing direction from the food channel into the chamber of the food presentation assembly; The food serving assembly is characterized in that it includes an opening and closing part, which can switch between an open state and a closed state. In the closed state, the opening and closing part defines a closed chamber, and in the open state, the opening and closing part opens the chamber. The chamber is connected to or is connectable to the outlet of the food channel. The food compartment is configured as a wheel that can rotate about a longitudinal axis. The wheel has a plurality of slots spaced apart around the longitudinal axis, each slot forming a food channel configured to store a stack of consecutive food blocks. The outlet of any slot can be aligned with the inlet of the chamber by rotating the wheel about the longitudinal axis. Each slot extends parallel to the longitudinal axis and has a slit extending parallel to the longitudinal axis, through which the slot opens toward the outer peripheral surface of the wheel. The plurality of slots are equipped with a common pusher, which is capable of linearly moving into and out of a selected slot, the selected slot being aligned with the entrance of the chamber by means of a rotating wheel about a longitudinal axis, and the pusher being guided along the gap of the selected slot. The feeder also includes a drive system configured to manipulate the opening and closing mechanism, the pusher, and relative motion between the wheel and the food delivery assembly, causing communication between the chambers and the outlets of the respective slots. The feeder also includes a control system configured to control the operation of the drive system by sending operation commands to the drive system, including opening and closing commands, and the control system is capable of determining whether there is a food block in the chamber. The operation instructions also include propulsion instructions, and the control system can also determine whether the pusher is aligned with a groove of the wheel and whether there is a food block in the groove aligned with the pusher. During the period from when the opening and closing part is in the closed state to when the opening and closing part changes from the next open state to the next closed state, and when the pusher is aligned with a slot including a food block, the control system can send a push command to the drive system to move the pusher toward the opening and closing part a predetermined distance to push at least one food block stored in the slot into the chamber.

2. The feeding apparatus of claim 1, wherein The feeder is configured for use with non-human primates.

3. The feeder according to claim 1 or 2, characterized in that, The feeder also includes a base, to which the wheel is detachably mounted at a first axial end and configured to pivot relative to the base about a pivot axis transverse to the longitudinal axis, the wheel being detachably held to the base at a second axial end opposite the first axial end.

4. The feeder according to claim 3, characterized in that, The feeder includes a housing housing the wheel, the housing including an openable and closable hatch, wherein when the hatch is opened, the wheel can be removed outside the housing by releasing a second axial end of the wheel, then causing the wheel to pivot about a pivot axis, and then causing a first axial end of the wheel to disengage from the base.

5. The feeder according to claim 1 or 2, characterized in that, The opening and closing part includes a plurality of petals arranged in a circumferential direction. In the open state of the opening and closing part, the plurality of petals are far apart from each other to open the chamber. In the closed state of the opening and closing part, the plurality of petals are close together to close the chamber.

6. The feeder according to claim 5, characterized in that, The multiple lobes are configured to form a spherical shape with a concave top when the opening and closing portion is in the closed state.

7. The feeder according to claim 5, characterized in that, The food serving assembly also includes a base, each of the plurality of petals being hinged to the base at a hinge and being pivotable about the hinge via a motion mechanism.

8. The feeder according to claim 7, characterized in that, The motion mechanism includes a slider and a connecting rod, wherein the motion mechanism and the plurality of petals are configured such that: when the slider moves toward the opening and closing portion, the plurality of petals pivot about their respective pivots and move away from each other, thereby causing the opening and closing portion to change from a closed state to an open state; when the slider moves away from the opening and closing portion, the plurality of petals pivot about their respective pivots and move closer to each other, thereby causing the opening and closing portion to change from an open state to a closed state.

9. The feeder according to claim 1 or 2, characterized in that, The drive system includes a first drive device for manipulating the wheel, a second drive device for manipulating the pusher, and a third drive device for manipulating the opening and closing portion.

10. The feeder according to claim 1 or 2, characterized in that, The feeder also includes a first position sensor configured to detect the distance between the animal and the feeder. The first position sensor is communicatively connected to the control system, wherein the control system is configured to... - In response to an animal approaching the feeder and the distance becoming less than a first threshold, an opening command is sent to the drive system, causing the drive system to open the opening / closing section; and - In response to the control system determining that there is no food block in the chamber and the animal is far away from the feeder such that the distance is greater than or equal to the first threshold, a closing command is sent to the drive system, thereby causing the drive system to change the opening and closing part to the closed state.

11. The feeder according to claim 1 or 2, characterized in that, The control system is configured to determine that there is no food block in the slot aligned with the pusher after the pusher has moved toward the opening and closing portion a certain number of times in the aligned slot.

12. The feeder according to claim 1 or 2, characterized in that, The propulsion command includes a step length and a number of steps, and the predetermined distance is the product of the step length and the number of steps, wherein the step length is matched to the size of the food block.

13. The feeder according to claim 1 or 2, characterized in that, The operation command also includes a removal command, and the control system can also determine whether the pusher is located in the slot. If the control system determines that there is no food block in the slot aligned with the pusher and the pusher is located in the slot, the control system can send a removal command to the drive system to cause the pusher to move away from the joint to the outside of the slot.

14. The feeder according to claim 13, characterized in that, The operation command also includes a rotation command, and the control system can also determine whether there is a food block in the wheel. If the control system determines that there is no food block in the slot aligned with the pusher but there is still a food block in the wheel and the pusher is located outside the slot, the control system can send a rotation command to the drive system to make the wheel rotate a certain angle, so that another slot is aligned with the pusher.

15. The feeder according to claim 14, characterized in that, The angle between any two adjacent slots of the rotary wheel is equal to that between each other. The rotation command includes a step angle and a number of steps, and the certain angle is the product of the step angle and the number of steps, wherein the step angle matches the angle between two adjacent slots.

16. The feeder according to claim 1 or 2, characterized in that, The operating instructions also include a pusher reset instruction, and the control system is configured to send the pusher reset instruction to the drive system before the pusher first moves into the slot, thereby causing the pusher to move to a specific position, at which the pusher is outside the slot.

17. The feeder according to claim 1 or 2, characterized in that, The operating instructions also include a wheel reset instruction, and the control system is configured to send the wheel reset instruction to the drive system before the pusher first moves into the slot, so that the wheel moves to align the pusher with a slot.

18. The feeder according to claim 17, characterized in that, The feeder includes a wheel position calibration sensor, which can sense whether the pusher is aligned with the slot. When the pusher is aligned with the slot, the control system can send a calibration signal to the drive system to prevent the wheel from moving.

19. The feeder according to claim 1 or 2, characterized in that, The operation command also includes an opening / closing part reset command. The control system is configured to send the opening / closing part reset command to the drive system before the pusher moves into the slot for the first time, thereby causing the opening / closing part to change to a closed state.

20. The feeder according to claim 1 or 2, characterized in that, The feeder includes a lighting device communicatively connected to the opening and closing portion, the lighting device being configured to illuminate in response to the opening and closing portion changing to a closed state, and to extinguish in response to the opening and closing portion changing to an open state.

21. The feeder according to claim 1 or 2, characterized in that, The control system is configured to enable the feeder to operate fully automatically, and / or the control system is capable of receiving operation commands input by the user, allowing the operation of the feeder to be manually intervened.

22. The feeder according to claim 21, characterized in that, The feeder includes a user input system that is communicatively connected to the control system to send operation instructions to the control system via user input.

23. The feeder according to claim 22, characterized in that, The feeder includes a display module that displays information selected from the group consisting of: the position of the pusher, the position of the wheel, the state of the opening and closing parts, the remaining amount of food in the slot aligned with the pusher, and the remaining amount of food in the wheel. The user input system is integrated on the display module in the form of touch buttons.

24. The feeder according to claim 23, characterized in that, The feeder can be wirelessly connected to a computer or mobile phone.

25. A feeding system, characterized in that, The feeder system includes: a plurality of feeders according to any one of claims 1 to 24, the feeder system including a user interface configured to communicate with the control system of each feeder, thereby enabling operation commands to be sent to the control system of each feeder through the user interface.

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