Ruminant concentrate supplementing and pushing robot based on universal chassis

Abstract

The invention belongs to the technical field of livestock breeding, and particularly relates to a ruminant concentrate supplementing and pushing robot based on a universal chassis. During use, firstly, all components of concentrate are fed into a barrel body through a feeding port in the top end of the barrel body, a sealing cover covers the barrel body, then the concentrate is stirred through a stirring mechanism, and after stirring is conducted for a set time, the concentrate is fed into the barrel body; the valve mechanism is opened, the concentrate falls into the storage cavity, the valve mechanism is closed, all components of the concentrate are fed into the barrel body through the feeding port in the top end of the barrel body, the concentrate is stirred through the stirring mechanism, the universal base advances along a set route at the moment, meanwhile, the discharging mechanism spreads the stirred concentrate near the fence, and supplement of the concentrate is completed. Meanwhile, the pushing mechanism pushes the feed to the fence, so that animals can eat conveniently. According to the device, concentrated feed supplementing and feed pushing can be automatically carried out, the labor intensity of workers is reduced, the labor cost is reduced, and the problem that the animal feed intake is insufficient due to the low operation speed is not prone to occurring.

Description

Technical Field

[0001] The invention belongs to the technical field of animal husbandry, and in particular relates to a ruminant concentrate feeding and pushing robot based on a universal chassis. Background Art

[0002] When ruminants are raised in traditional livestock pens for ruminants, feed is usually spread manually, and there is no guarantee that the feed placed is close to the fence. Some feed is far away from the fence, which makes it impossible for the animals to reach it, affecting their normal eating, resulting in feed loss, reduced animal feed intake and other problems. For this reason, the feed needs to be pushed to the vicinity of the fence manually, and the grass needs to be pushed in real time, day and night, which is labor-intensive and costly, and the manual operation speed is slow, which easily leads to insufficient animal feed intake. The same problem exists in the concentrate feeding process.

[0003] Therefore, a ruminant concentrate feeding and pushing robot based on a universal chassis is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a ruminant concentrate feeding and pushing robot based on a universal chassis to solve the above problems.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A ruminant concentrate feeding and pushing robot based on a universal general chassis comprises: a universal base, the top of the universal base is detachably connected to a barrel body, the inner cavity of the barrel body is divided into a stirring chamber and a storage chamber by a baffle, the stirring chamber and the storage chamber are arranged up and down, the baffle is provided with a valve mechanism, the stirring chamber is provided with a stirring mechanism, the storage chamber is provided with a discharging mechanism, and one side of the barrel body is provided with a pushing mechanism.

[0007] In the ruminant concentrate feeding and pushing robot based on the universal chassis of the present invention, the baffle is arranged in an inverted truncated cone shape, and the valve mechanism includes a spherical shell fixedly connected to the bottom end of the baffle, a vertical second through hole is opened on the spherical shell, and the top end of the second through hole passes through the baffle, a ball valve is rotatably connected in the spherical shell, a first through hole is opened on the ball valve, and the first through hole is arranged correspondingly and matched with the second through hole, and a valve motor is fixedly connected to one side of the spherical shell, and the output shaft of the valve motor penetrates into the spherical shell and is fixedly connected to the ball valve.

[0008] In the ruminant concentrate feeding and pushing robot based on a universal chassis of the present invention, the stirring mechanism includes a main shaft coaxially arranged in the barrel body, a plurality of second stirring rods are fixedly connected to the outer wall of the main shaft, the top end of the main shaft passes through the barrel body and is coaxially fixedly connected to the output shaft of the reducer, the input shaft of the reducer is coaxially fixedly connected to the output shaft of the stirring motor, the reducer and the stirring motor are both fixedly connected to a bracket, and the bracket is fixedly connected to the top end of the barrel body.

[0009] In the ruminant concentrate feeding and pushing robot based on a universal chassis of the present invention, a cross bar is fixedly connected to the outer wall of the main shaft, the cross bar is horizontally arranged, the cross bar is close to the inner top wall of the barrel body, and a first stirring rod is rotatably connected to the cross bar. An auger blade is circumferentially arranged on the outer wall of the first stirring rod. The top end of the first stirring rod passes through the cross bar and is coaxially fixed with a gear, the gear is meshed with a gear ring, and the gear ring is fixed to the inner top wall of the barrel body.

[0010] In the ruminant concentrate feeding and pushing robot based on the universal chassis of the present invention, the discharging mechanism includes a guide groove fixedly connected to the bottom end of the storage chamber, the guide groove is arranged in a V-shape, and an auger conveying rod is arranged at the bottom end of the guide groove, one end of the auger conveying rod is coaxially fixed with the output shaft of the conveying motor, the conveying motor is fixed in the barrel body, and the other end of the auger conveying rod extends into a discharging pipe, and the discharging pipe is fixedly connected to one side of the barrel body and is connected to the storage chamber.

[0011] In the ruminant concentrate feeding and pushing robot based on the universal chassis of the present invention, at least three magnetic suction grooves are opened on the top of the universal base, and magnetic suction blocks are magnetically connected in the magnetic suction grooves, and the magnetic suction blocks are fixed to the bottom end of the barrel body.

[0012] In the ruminant concentrate feeding and pushing robot based on the universal general chassis of the present invention, a mounting groove is opened on the top surface of the universal base, one end of a spring is fixedly connected to the bottom of the mounting groove, the other end of the spring is fixedly connected to a slider, the slider is slidably connected in the mounting groove, the top end of the slider is fixedly connected to a first joint, the first joint is electrically connected to a second joint, the second joint is fixedly connected to the bottom end of the barrel body, and the second joint is electrically connected to the conveying motor, the valve motor and the stirring motor.

[0013] In the ruminant concentrate feeding and pushing robot based on the universal general chassis of the present invention, the pushing mechanism includes a fixed rod fixedly connected to one side of the barrel body, the end of the fixed rod away from the barrel body is fixedly connected to a fixed plate, the side of the fixed plate away from the fixed rod is hinged to a push plate, the hinge between the fixed plate and the push plate is close to the fence, a connecting rod is hinged on the fixed plate, the connecting rod is away from the hinge between the fixed plate and the push plate, the end of the connecting rod away from the fixed plate is hinged to another connecting rod, the other connecting rod is hinged to the push plate, a telescopic rod is hinged between the fixed plate and the push plate, and the telescopic rod is electrically connected to the second joint.

[0014] Compared with the prior art, the present invention has the following advantages and technical effects:

[0015] When the device of the present invention is in use, first, each component of the concentrate is fed into the barrel body through the feed port at the top of the barrel body, and a sealing cover is put on. Then, the concentrate is stirred by the stirring mechanism. After the stirring is set for a time, the valve mechanism is opened, and the concentrate falls into the storage chamber. The valve mechanism is closed, and each component of the concentrate is fed into the barrel body through the feed port at the top of the barrel body. The concentrate is stirred by the stirring mechanism. At this time, the universal base moves along the set route, and at the same time, the discharging mechanism scatters the stirred concentrate near the fence to complete the feeding of the concentrate. At the same time, the pushing mechanism pushes the feed toward the fence to facilitate animal eating.

[0016] The device of the present invention can automatically perform concentrated feed replenishment and feed pushing, thereby reducing the labor intensity of workers, reducing labor costs, and is less likely to cause the problem of insufficient animal feed intake due to slow operating speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0018] Figure 1 A top view of the present invention;

[0019] Figure 2 for Figure 1 AA section view in;

[0020] Figure 3 for Figure 2 A partial enlarged view of point B in the middle;

[0021] Figure 4 for Figure 2 A partial enlarged view of point C in the middle;

[0022] Among them, 1. universal base; 2. magnetic suction groove; 3. magnetic suction block; 4. barrel; 5. conveying motor; 6. guide groove; 7. discharge pipe; 8. auger conveying rod; 9. baffle; 10. ball valve; 11. valve motor; 12. ball shell; 13. first through hole; 14. second through hole; 15. first stirring rod; 16. auger blade; 17. main shaft; 18. second stirring rod; 19. cross bar; 20. sealing cover; 21. feed port; 22. bracket; 23. reducer; 24. stirring motor; 25. mounting groove; 26. spring; 27. slider; 28. first joint; 29. ​​second joint; 30. gear; 31. gear ring; 32. fixing rod; 33. fixing plate; 34. connecting rod; 35. push plate; 36. telescopic rod. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] The difference between concentrated feed and roughage:

[0026] 1. Different classifications

[0027] Concentrated feed, also known as concentrated feed, is relative to roughage. It is a type of feed that is rich in nutrients per unit volume or unit weight, low in crude fiber content, and high in digestible nutrients.

[0028] Roughage is feed with a natural moisture content of less than 60%, a crude fiber content of dry matter equal to or higher than 18%, and is fed in the form of air-dried matter.

[0029] 2. Different characteristics

[0030] Concentrated feed mainly includes the seeds of crops (cereals, beans and seeds of oil crops) and their processed by-products. From a nutritional point of view, it can be divided into two categories: energy feed and protein feed. Generally speaking, energy feed has good palatability and high digestible nutrient content, so processing and modulation are of little significance.

[0031] Roughage provides a large amount of nutrients for ruminants and is an indispensable source of nutrition for the ruminant body. Corn stalks, rice straw and sweet potato vines are several commonly used roughages in the ruminant animal breeding industry. Ryegrass is one of the most widely planted high-quality forage varieties in southern my country in winter, with high yield and good quality. The planting area of ​​bullwhip grass is also becoming increasingly wider.

[0032] In the related art, a calf breeding concentrate supplement device includes a long quantitative feeding tube, which includes a feed delivery pipe with a feed discharge port opened at the bottom along the axial direction, a quantitative shaft is rotatably connected inside the feed delivery pipe, and the quantitative shaft is symmetrically provided with grooves along the axial direction, and a plurality of feeding troughs are arranged on one side of the bottom of the feed discharge port along the axial direction of the feed delivery pipe.

[0033] At least two legs are installed at the bottom of the feeding pipe. The quantitative feeding long tube also includes a stepper motor and a hopper installed on one side above the feeding pipe. The output shaft of the stepper motor is fixedly installed with one axial end of the quantitative shaft.

[0034] The conveying pipe is set in an inclined structure, and one end of the hopper is the high point.

[0035] The feeding trough is set in an inclined structure, and the end close to the feeding pipe is the high point.

[0036] A limiting frame is fixedly installed on the upper end of the feeding trough away from one side of the feeding pipe.

[0037] A vibrator is fixedly installed on one side of the outer surface of the conveying pipe.

[0038] The beneficial effects of this program are:

[0039] 1. By setting up a long quantitative feeding tube, there is no need to spread the feed manually, which can prevent calves from accidentally hurting workers. At the same time, only one conveying shaft is needed to achieve synchronous quantitative feeding of multiple cattle troughs, which greatly saves the cost of equipment.

[0040] 2. The vibration of the vibrating machine can improve the filling effect of the fine material inside the groove.

[0041] A feeding vehicle for simultaneously spreading concentrated feed and roughage for calf feeding comprises a trailer, a weighing frame is arranged on one side of the trailer, a concentrate box is arranged on one side of the top of the weighing frame, a roughage box is arranged on the other side of the top of the weighing frame, and a feeding belt conveyor is arranged on the bottom of the weighing frame near the concentrate box;

[0042] The weighing chassis includes a fine material slide trough, a fine material box weighing module chassis, a coarse material box weighing module, a material discharge inner baffle, a material discharge outer baffle and a material spreader mounting frame. The chassis is located on the side of the top of the trailer away from the front of the vehicle. Two groups of coarse material box weighing modules are arranged on one side of the top of the chassis. Two groups of fine material box weighing modules are arranged on the side of the top of the chassis away from the coarse material box weighing modules. A fine material slide trough is arranged at the middle position of one side of the top of the chassis, and the fine material slide trough is located between the two groups of fine material box weighing modules. An inner material discharge baffle is arranged at the bottom of one side of the chassis. Material spreader mounting frames are symmetrically arranged at the middle position of the top of both ends of the chassis. A material discharge outer baffle is arranged on one side of the bottom of the chassis.

[0043] The coarse material box includes a coarse material box body, a driving hydraulic motor, a main auger, a driving sprocket, a driving reducer, a driven sprocket, an auxiliary auger, an auxiliary auger bearing seat, a main auger bearing seat and a sprocket cover. The coarse material box body is located on the top of the two sets of coarse material box weighing modules. The main auger bearing seats are symmetrically arranged at the middle position of the bottom of both sides of the coarse material box body, and the main auger is arranged inside the two sets of main auger bearing seats. Auxiliary auger bearing seats are symmetrically arranged at the middle position of one end of both sides of the coarse material box body. Auxiliary auger is arranged inside the two sets of auxiliary auger bearing seats, and one side of the auxiliary auger extends to the chain A sprocket cover is provided inside the wheel cover and at the middle position of one side of the coarse material box, and one side of the main auger extends to the outside of the sprocket cover, a driving sprocket is sleeved on the side of the main auger extending from the outside to the inside of the sprocket cover, a driven sprocket is sleeved on the side of the auxiliary auger extending from the outside to the inside of the sprocket cover, a chain is sleeved on the outsides of the driving sprocket and the driven sprocket, a driving reducer is provided at the bottom of one side of the sprocket cover, the driving reducer is connected to one side of the main auger, a driving hydraulic motor is provided at the bottom of the sprocket cover, and the output end of the driving hydraulic motor is connected to the driving reducer;

[0044] The material spreading belt conveyor includes a belt conveyor base frame, a belt conveyor drive bearing seat, a belt conveyor drive roller, a belt conveyor tensioning rod, a belt driven roller, a belt conveyor driven bearing seat, a material spreading belt, a material spreading belt conveyor coupling, a material spreading belt conveyor motor and a material spreading belt conveyor motor seat. The belt conveyor base frame is located on the top of the material spreading machine mounting frame, and a material spreading belt conveyor motor seat is provided at one end of one side of the belt conveyor base frame, and a material spreading belt conveyor motor is provided on a side of the material spreading belt conveyor motor seat away from the belt conveyor base frame, and the output end of the material spreading belt conveyor motor extends to the inside of the material spreading belt conveyor motor seat and is provided with a material spreading belt conveyor coupling. The belt conveyor is a device, and belt conveyor driving bearing seats are symmetrically arranged at one end of both sides of the belt conveyor chassis, and belt conveyor driving rollers are arranged inside the two groups of belt conveyor driving bearing seats. One side of the belt conveyor driving roller is connected with the material spreading belt conveyor coupling. Belt conveyor driven bearing seats are symmetrically arranged at one end of the belt conveyor chassis away from the belt conveyor driving roller, and belt driven rollers are commonly arranged inside the two groups of belt conveyor driven bearing seats, and belt conveyor tensioning rods are arranged at the bottom of both sides of the belt conveyor chassis near one end of the belt driven roller, and the outer sides of the belt conveyor driving roller and the belt driven roller are commonly sleeved with a material spreading belt.

[0045] The fine material box includes a fine material box body and a hydraulic door. The fine material box body is located on the top of the two groups of fine material box weighing modules, and a hydraulic door is arranged at the bottom of the outer side of the fine material box. A hydraulic cylinder is arranged on the hydraulic door, and the hydraulic cylinder is connected to each other at the middle position of one end of the fine material box body.

[0046] A ladder is provided at one end of the coarse material box away from the fine material box. The spreading belt conveyor motor is connected to the belt conveyor drive roller through the spreading belt conveyor coupling. The top of the fine material slide trough is adapted to the bottom of one end of the fine material box, and the bottom of the fine material slide trough is tilted and arranged directly above the spreading belt.

[0047] A coarse feed discharge port is arranged at the bottom of the coarse feed box body on one side close to the fine feed box body, and the coarse feed discharge port is located just above the spreading belt.

[0048] The beneficial effects of the technology are as follows: the feeding vehicle for simultaneously spreading concentrated feed and roughage for calf feeding has a simple and compact structure, high reliability, and is easy to install and maintain, which can greatly extend the service life of the equipment, save labor, and reduce the labor intensity of workers;

[0049] 1. The feeding efficiency is improved by spreading roughage and concentrate feed at the same time. The concentrate feed is designed to slide freely, which greatly reduces the breakage rate of the pellet concentrate feed, thereby increasing the concentrate feed intake rate of the calves;

[0050] 2. Put the concentrated feed in front and the roughage in the back, and mix the two feeds in a covering manner during the spreading process. This mixture allows the calves to eat more roughage and help the calves grow;

[0051] 3. By weighing the concentrate box and the coarse feed box separately, the feeding control of the two types of feed can be more accurate.

[0052] A large-scale ranch precision feeding and spreading vehicle comprises a vehicle body with a bucket mounted on the vehicle body. The vehicle body is characterized in that scraper frames are mounted between the two sides of the bucket and the vehicle body, a driving shaft and a driven shaft are arranged between the two ends of the two scraper frames, a chain is connected between the driving shaft and the driven shaft, a scraper is arranged between the two chains, and a spreading belt is arranged below the tail of the bucket.

[0053] A guard plate is arranged between the inside of the truck bucket and the inner side of the scraper frame, and the guard plate is fixed to the inner side of the truck bucket through a folding leaf.

[0054] The spreading belt is installed on the power shaft and the passive shaft, and the power shaft and the passive shaft are installed between the outer side plate and the inner side plate.

[0055] The inner plate is connected to the scraper frame through a connecting plate, and the outer plate is connected to the truck bed through a protective cover.

[0056] A plurality of rib plates are fixedly installed between the outer side of the truck bucket and the outer side of the scraper frame.

[0057] The scraper frame is connected with a plurality of fixing plates, the fixing plates are fixedly mounted on the fixing angle steels, and the fixing angle steels are placed on the vehicle body.

[0058] The beneficial effects of this technology are: it can be used for mechanized feeding in pastures with a large number of livestock and a large area, and the amount of feeding can be adjusted according to different livestock types or different needs; it is highly efficient, feeds are spread evenly, saves time and effort, and saves labor, greatly saving the production costs of large pastures.

[0059] A multifunctional spiral push-type feeding machine for dairy cows comprises a walking device, and a pushing device, an intelligent identification control device, a forage throwing device and a concentrate feeding device installed on the walking device. The pushing device is located at the front end of the walking device, and the pushing direction of the pushing device is toward the feeding side. The discharge port of the forage throwing device is located in front of the discharge port of the concentrate feeding device. The intelligent identification control device comprises a radar and a depth camera, which are used to capture a pile image and transmit it to a control system. The control system controls the grass pushing efficiency and the forage preparation and spreading efficiency according to the size of the pile volume.

[0060] This solution realizes the movement of the whole machine through the walking device, pushes the feed to the feeding side where the cow is located through the pushing device to ensure that the feed is within the reach of the cow, feed is fed through the grass throwing device, and concentrated feed is fed through the concentrated feed supplementary feeding device, and the discharge port of the grass throwing device is located in front of the discharge port of the concentrated feed supplementary feeding device, so that the concentrated feed falls on the grass during feeding, thereby improving the efficiency of concentrated feed consumption and reducing waste.

[0061] The pusher and the travel device are both electrically connected to the control system, and a depth camera electrically connected to the control system is installed at the front end of the pusher. This optimization solution captures the image of the material pile through the depth camera and transmits it to the control system. The control system controls the pushing speed of the pusher and the walking speed of the travel device according to the size of the material pile, achieving a reasonable coordination of the pushing speed and the walking speed, making the pushing of materials more thorough.

[0062] The pusher device includes a bracket connected to the walking device, a spiral pusher auger rotatably arranged on the bracket, and a pusher driving device for driving the spiral pusher auger to rotate. The bracket is fixed with a pusher housing extending from the bottom of the spiral pusher auger to the rear of the spiral pusher auger, and the axis of the spiral pusher auger extends in the left and right direction. The pusher device of this optimization scheme uses the combined action of the spiral pusher auger and the pusher housing to push the feed, has a simple structure, low manufacturing cost, and occupies a small space.

[0063] A brush is installed at the lower end of the pusher housing, and the bristles of the brush extend vertically and are arranged in the left and right directions. This optimization scheme uses the brush to pile up the feed on the ground when the whole machine moves forward, so as to facilitate the pushing of the spiral pusher, reduce the residual material, and make the pushing of the feed more thorough and clean.

[0064] The rear end of the bracket is hinged to the traveling device through a transverse axis, and the front end of the traveling device is hinged with a material pushing telescopic device, and the end of the material pushing telescopic device away from the traveling device is hinged to the bracket. This optimization scheme drives the bracket to rotate around the transverse axis through the telescopic device, thereby realizing the adjustment of the height of the material pushing device, which has better applicability, and when the material pushing operation is not in progress, the material pushing device is raised, which is conducive to improving the flexibility of the whole machine movement.

[0065] The bottom of the left side plate of the pusher housing and / or the bottom of the right side plate of the pusher housing are equipped with front universal wheels. This optimization scheme supports the pusher housing by arranging universal wheels on the pusher housing, thereby improving stability, and at the same time arranging outward wheels on the left side plate or the right side plate to avoid affecting the movement of feed.

[0066] The push drive device includes a push motor, and an auger connection flange and a transmission flange fixedly connected by at least two transmission connection shafts, the auger connection flange is transmission-connected to the spiral push auger, the output shaft of the push motor is transmission-connected to the transmission flange, the push motor is located between the auger connection flange and the transmission flange, and the push motor, the auger connection flange and the transmission flange are coaxially arranged. The structural arrangement of this optimization scheme reduces the space occupied by the push drive device, is conducive to reducing the size of the whole machine, and is more suitable for pushing materials in the aisle of the dairy cattle breeding pen, while using the transmission connection shaft to protect the push motor.

[0067] The walking device includes a chassis, a driving wheel and a rear universal wheel installed on the chassis. There are two driving wheels, which are coaxially arranged. The rear universal wheel is located behind the driving wheel. The two driving wheels are respectively connected to a walking driving device. This optimization scheme drives the driving wheel to rotate through the walking driving device to realize the walking of the whole machine. By setting up two sets of walking driving devices, it is convenient to realize turning through the differential speed of the two driving wheels, making the movement of the whole machine more flexible.

[0068] The forage throwing device includes a mixing barrel, a mixing and cutting device arranged in the mixing barrel, and a forage discharge port opened on the side wall of the mixing barrel. The outer side of the mixing barrel is provided with a discharge baffle for shielding the forage discharge port and a discharge telescopic device for driving the discharge baffle to move vertically; the outer side wall of the mixing barrel is also fixed with a support plate located below the forage discharge port, and side baffles extending upward from the front and rear edges of the support plate. The forage throwing device of this optimized solution cuts and mixes the forage through the mixing and cutting device, and throws the mixed forage through the forage discharge port. By providing the support plate, the support distance of the forage is increased, so that the forage falls closer to the cow on the feeding side. The discharge telescopic device is used to realize the up and down movement of the discharge baffle, thereby realizing the opening and closing of the forage discharge port, which is beneficial to control the forage supply amount.

[0069] The concentrate supplementary feeding device includes a plurality of concentrate supplementary feeding bins arranged in sequence, and a transitional feeding bin located below the concentrate supplementary feeding bins. The bottom of the transitional feeding bins is connected to a discharge pipe extending to the feeding side. The lower port of each concentrate supplementary feeding bin is provided with a feeder, and the discharge port of each feeder is connected to the transitional feeding bin. This optimization scheme facilitates the control of the concentrate ingredient amount in each concentrate supplementary feeding bin by setting a feeder. Various types of concentrate are discharged from the discharge pipe after passing through the transitional feeding bin, thereby improving the mixing effect between the concentrates.

[0070] The depth camera, forage throwing device, and concentrate feeding device are all electrically connected to the control system. The front end of the throwing and feeding device is equipped with a depth camera electrically connected to the control system. This optimization solution captures images of the pile and cows through the depth camera and transmits them to the control system. The control system controls the efficiency of cutting, preparing and throwing forage and concentrate according to the size of the pile and the individual number of the cow, so as to achieve timely feed supplementation and ensure the nutritional needs of individual cows.

[0071] The beneficial effects of this solution are: the mechanical structure is simple and practical, the machinery is easy to manufacture, and it can be commercialized and processed on a large scale. The cost is low, and the one-time investment can be reused. It has a high degree of modularization, is relatively easy to install and maintain, and can be operated by one person, making it very easy to use. Through the deep camera, the forage distribution can be intelligently identified, and the forage throwing device and the concentrate feeding device can replenish the feed in time. The pushing screw is used to push the feed, and the pushing efficiency has been greatly improved compared to the traditional manual pushing method. It has a high degree of intelligence and can effectively reduce the problems of excessive waste, feed loss, and increased labor caused by manual pushing, greatly reducing labor costs, saving manpower and material resources, and increasing the income of the ranch.

[0072] Reference Figures 1 to 4 The present invention discloses a ruminant concentrate feeding and pushing robot based on a universal chassis, comprising: a universal base 1, a barrel body 4 is detachably connected to the top of the universal base 1, the inner cavity of the barrel body 4 is divided into a stirring chamber and a storage chamber by a baffle 9, the stirring chamber and the storage chamber are arranged up and down, a valve mechanism is arranged on the baffle 9, a stirring mechanism is arranged in the stirring chamber, a discharging mechanism is arranged in the storage chamber, and a pushing mechanism is arranged on one side of the barrel body 4.

[0073] When the device of the present invention is in use, first, the various components of the concentrate are fed into the barrel body 4 through the feed port 21 at the top of the barrel body 4, and the sealing cover 20 is covered. Then, the concentrate is stirred by the stirring mechanism. After the stirring time is set, the valve mechanism is opened, and the concentrate falls into the storage chamber. The valve mechanism is closed, and the various components of the concentrate are fed into the barrel body 4 through the feed port 21 at the top of the barrel body 4. The concentrate is stirred by the stirring mechanism. At this time, the universal base 1 moves along the set route, and the discharging mechanism scatters the stirred concentrate near the fence to complete the feeding of the concentrate. At the same time, the pushing mechanism pushes the feed to the fence to facilitate animal eating.

[0074] The device of the present invention can automatically perform concentrated feed replenishment and feed pushing, thereby reducing the labor intensity of workers, reducing labor costs, and is less likely to cause the problem of insufficient animal feed intake due to slow operating speed.

[0075] In a feasible solution, the baffle 9 is configured to be an inverted truncated cone, and the valve mechanism includes a spherical shell 12 fixedly connected to the bottom end of the baffle 9, a vertical second through hole 14 is opened on the spherical shell 12, and the top of the second through hole 14 passes through the baffle 9, a ball valve 10 is rotatably connected in the spherical shell 12, a first through hole 13 is opened on the ball valve 10, the first through hole 13 and the second through hole 14 are correspondingly arranged and adapted to each other, a valve motor 11 is fixedly connected to one side of the spherical shell 12, and the output shaft of the valve motor 11 penetrates into the spherical shell 12 and is fixedly connected to the ball valve 10.

[0076] In a feasible solution, the stirring mechanism includes a main shaft 17 coaxially arranged in the barrel body 4, and a plurality of second stirring rods 18 are fixedly connected to the outer wall of the main shaft 17. The top end of the main shaft 17 passes through the barrel body 4 and is coaxially fixedly connected to the output shaft of the reducer 23. The input shaft of the reducer 23 is coaxially fixedly connected to the output shaft of the stirring motor 24. The reducer 23 and the stirring motor 24 are both fixedly connected to the bracket 22, and the bracket 22 is fixedly connected to the top end of the barrel body 4.

[0077] In a feasible solution, a cross bar 19 is fixedly connected to the outer wall of the main shaft 17. The cross bar 19 is horizontally arranged and close to the inner top wall of the barrel body 4. The first stirring rod 15 is rotatably connected to the cross bar 19. An auger blade 16 is circumferentially arranged on the outer wall of the first stirring rod 15. The top end of the first stirring rod 15 passes through the cross bar 19 and is coaxially fixed with a gear 30. The gear 30 is meshed with a gear ring 31, and the gear ring 31 is fixed to the inner top wall of the barrel body 4.

[0078] The stirring motor 24 is started, and the stirring motor 24 drives the main shaft 17 to rotate through the reducer 23, and the main shaft 17 drives the second stirring rod 18 to rotate to stir the fine material. At the same time, the main shaft 17 drives the cross bar 19 to rotate, and the cross bar 19 drives the first stirring rod 15 to make a circular motion. The gear 30 at the top of the first stirring rod 15 is meshed with the gear ring 31, and the first stirring rod 15 rotates around its own axis, and then the fine material is lifted up by the auger blade 16, so as to accelerate the mixing of the various components of the fine material and make the fine material mixed more evenly;

[0079] In a feasible solution, the discharging mechanism includes a guide groove 6 fixedly connected to the bottom end of the storage chamber, the guide groove 6 is arranged in a V shape, and an auger conveying rod 8 is arranged at the bottom end of the guide groove 6. One end of the auger conveying rod 8 is coaxially fixedly connected to the output shaft of the conveying motor 5, the conveying motor 5 is fixedly connected to the barrel body 4, and the other end of the auger conveying rod 8 extends into the discharging pipe 7. The discharging pipe 7 is fixedly connected to one side of the barrel body 4 and is connected to the storage chamber.

[0080] The conveying motor 5 is started to drive the auger conveying rod 8 to rotate, and the fine material in the storage chamber is sent out of the barrel 4 through the discharge pipe 7 to complete the material spreading;

[0081] In a feasible solution, at least three magnetic suction grooves 2 are provided at the top of the universal base 1 , and magnetic suction blocks 3 are magnetically connected in the magnetic suction grooves 2 , and the magnetic suction blocks 3 are fixed to the bottom end of the barrel body 4 .

[0082] In a feasible solution, a mounting groove 25 is opened on the top surface of the universal base 1, one end of a spring 26 is fixedly connected to the bottom of the mounting groove 25, and a slider 27 is fixedly connected to the other end of the spring 26. The slider 27 is slidably connected in the mounting groove 25, and a first joint 28 is fixedly connected to the top of the slider 27. The first joint 28 is electrically connected to the second joint 29, and the second joint 29 is fixedly connected to the bottom end of the barrel body 4. The second joint 29 is electrically connected to the conveying motor 5, the valve motor 11 and the stirring motor 24.

[0083] A control system is provided in the universal base 1, and the control system is electrically connected to the first connector 28;

[0084] The control system uses a universal chassis system of a breeding inspection robot disclosed in publication number CN117075614A.

[0085] In the present invention, the barrel body 4 and the universal base 1 are detachably connected. When no material is needed, the universal base 1 is moved to a designated position and positioned. At this time, the magnetic suction groove 2 and the magnetic suction block 3 are disconnected. The barrel body 4 is lifted and fixed by a lifting device. The barrel body 4 and the universal base 1 are separated. The universal base 1 can be connected with other components to realize different functions.

[0086] In a feasible solution, the pushing mechanism includes a fixed rod 32 fixedly connected to one side of the barrel body 4, a fixed plate 33 is fixedly connected to the end of the fixed rod 32 away from the barrel body 4, a push plate 35 is hingedly connected to the side of the fixed plate 33 away from the fixed rod 32, the hinge between the fixed plate 33 and the push plate 35 is close to the fence, a connecting rod 34 is hinged on the fixed plate 33, the connecting rod 34 is away from the hinge between the fixed plate 33 and the push plate 35, another connecting rod 34 is hinged at one end of the connecting rod 34 away from the fixed plate 33, the other connecting rod 34 is hinged on the push plate 35, a telescopic rod 36 is hinged between the fixed plate 33 and the push plate 35, and the telescopic rod 36 is electrically connected to the second joint 29.

[0087] The telescopic rod 36 is extended to make the end of the push plate 35 away from the fence tilt in the direction away from the fixed plate 33, and the push plate 35 is in sliding contact with the ground, so as to push the feed toward the fence, making it easier for the animals to eat.

[0088] Specific workflow:

[0089] The universal base 1 is moved to the bottom of the lifting bracket and positioned, the barrel body 4 in the lifting bracket falls down onto the universal base 1, and the magnetic block 3 falls into the magnetic groove 2. At the same time, the first joint 28 is electrically connected to the second joint 29, and the setting of the spring 26 makes the first joint 28 and the second joint 29 connected more tightly;

[0090] Before use, the barrel body 4 is first cleaned. After the cleaning is completed, the components of the fine material are put into the barrel body 4 through the feed port 21 at the top of the barrel body 4, the sealing cover 20 is covered, and the stirring motor 24 is started. The stirring motor 24 drives the main shaft 17 to rotate through the reducer 23, and the main shaft 17 drives the second stirring rod 18 to rotate to stir the fine material. At the same time, the main shaft 17 drives the cross bar 19 to rotate, and the cross bar 19 drives the first stirring rod 15 to make a circular motion. The gear 30 at the top of the first stirring rod 15 is meshed with the gear ring 31, and the first stirring rod 15 rotates around its own axis, and then The fine material is lifted up by the auger blade 16 to accelerate the mixing of the various components of the fine material, so that the fine material is mixed more evenly. After the mixing is completed, the valve motor 11 is opened, and the valve motor 11 drives the ball valve 10 in the ball shell 12 to rotate, so that the first through hole 13 and the second through hole 14 are coaxially arranged, and the fine material falls into the material storage cavity through the first through hole 13 and the second through hole 14. After the valve motor 11 drives the ball valve 10 in the ball shell 12 to rotate and reset, the various components of the new fine material are put into the barrel body 4 through the feed port 21 at the top of the barrel body 4, and the sealing cover 20 is covered to re-stir the new fine material;

[0091] At the same time, the universal base 1 starts and moves along the set route, and the conveying motor 5 starts to drive the auger conveying rod 8 to rotate, and the fine material in the storage cavity is sent out of the barrel 4 through the discharge pipe 7 to complete the material spreading;

[0092] The telescopic rod 36 is extended to make the end of the push plate 35 away from the fence tilt in the direction away from the fixed plate 33, and the push plate 35 is in sliding contact with the ground, so as to push the feed toward the fence, making it easier for the animals to eat.

[0093] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0094] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A ruminant concentrate feeding and pushing robot based on a universal chassis, characterized in that: include: A universal base (1), the top end of which is detachably connected to a barrel body (4), the inner cavity of the barrel body (4) being divided into a stirring chamber and a material storage chamber by a baffle (9), the stirring chamber and the material storage chamber being arranged one above the other, a valve mechanism being arranged on the baffle (9), a stirring mechanism being arranged in the stirring chamber, a discharging mechanism being arranged in the material storage chamber, and a pushing mechanism being arranged on one side of the barrel body (4).

2. The ruminant concentrate feeding and pushing robot based on a universal chassis according to claim 1, characterized in that: The baffle (9) is configured to be in an inverted truncated cone shape, and the valve mechanism comprises a ball shell (12) fixedly connected to the bottom end of the baffle (9), a vertical second through hole (14) is provided on the ball shell (12), the top end of the second through hole (14) passes through the baffle (9), a ball valve (10) is rotatably connected in the ball shell (12), a first through hole (13) is provided on the ball valve (10), the first through hole (13) and the second through hole (14) are correspondingly arranged and matched, a valve motor (11) is fixedly connected to one side of the ball shell (12), and the output shaft of the valve motor (11) penetrates into the ball shell (12) and is fixedly connected to the ball valve (10).

3. The ruminant concentrate feeding and pushing robot based on a universal chassis according to claim 2 is characterized in that: The stirring mechanism comprises a main shaft (17) coaxially arranged in the barrel body (4), a plurality of second stirring rods (18) are fixedly connected to the outer wall of the main shaft (17), the top end of the main shaft (17) passes through the barrel body (4) and is coaxially fixedly connected to the output shaft of a reducer (23), the input shaft of the reducer (23) is coaxially fixedly connected to the output shaft of a stirring motor (24), the reducer (23) and the stirring motor (24) are both fixedly connected to a bracket (22), and the bracket (22) is fixedly connected to the top end of the barrel body (4).

4. The ruminant concentrate feeding and pushing robot based on a universal chassis according to claim 3 is characterized by: A cross bar (19) is fixedly connected to the outer wall of the main shaft (17). The cross bar (19) is arranged horizontally and is close to the inner top wall of the barrel body (4). A first stirring rod (15) is rotatably connected to the cross bar (19). An auger blade (16) is circumferentially arranged on the outer wall of the first stirring rod (15). The top end of the first stirring rod (15) passes through the cross bar (19) and is coaxially fixedly connected to a gear (30). The gear (30) is meshed with a gear ring (31). The gear ring (31) is fixedly connected to the inner top wall of the barrel body (4).

5. The ruminant concentrate feeding and pushing robot based on a universal chassis according to claim 3 is characterized by: The discharging mechanism comprises a guide groove (6) fixedly connected to the bottom end of the storage chamber, the guide groove (6) is arranged in a V shape, an auger conveying rod (8) is arranged at the bottom end of the guide groove (6), one end of the auger conveying rod (8) is coaxially fixedly connected to the output shaft of the conveying motor (5), the conveying motor (5) is fixedly connected to the barrel body (4), and the other end of the auger conveying rod (8) extends into a discharging pipe (7), and the discharging pipe (7) is fixedly connected to one side of the barrel body (4) and communicated with the storage chamber.

6. The ruminant concentrate feeding and pushing robot based on a universal chassis according to claim 1, characterized in that: At least three magnetic suction grooves (2) are provided at the top of the universal base (1), and magnetic suction blocks (3) are magnetically connected in the magnetic suction grooves (2), and the magnetic suction blocks (3) are fixed to the bottom end of the barrel body (4).

7. The ruminant concentrate feeding and pushing robot based on a universal chassis according to claim 5, characterized in that: A mounting groove (25) is provided on the top surface of the universal base (1), one end of a spring (26) is fixedly connected to the bottom of the mounting groove (25), the other end of the spring (26) is fixedly connected to a slider (27), the slider (27) is slidably connected in the mounting groove (25), a first joint (28) is fixedly connected to the top end of the slider (27), the first joint (28) is electrically connected to a second joint (29), the second joint (29) is fixedly connected to the bottom end of the barrel body (4), and the second joint (29) is electrically connected to the conveying motor (5), the valve motor (11) and the stirring motor (24).

8. The ruminant concentrate feeding and pushing robot based on a universal chassis according to claim 7, characterized in that: The pushing mechanism comprises a fixed rod (32) fixedly connected to one side of the barrel body (4); a fixed plate (33) is fixedly connected to one end of the fixed rod (32) away from the barrel body (4); a push plate (35) is hingedly connected to one side of the fixed plate (33) away from the fixed rod (32); a hinged portion between the fixed plate (33) and the push plate (35) is close to the fence; a connecting rod (34) is hingedly connected to the fixed plate (33); the connecting rod (34) is away from the hinged portion between the fixed plate (33) and the push plate (35); one end of the connecting rod (34) away from the fixed plate (33) is hingedly connected to another connecting rod (34); the other connecting rod (34) is hingedly connected to the push plate (35); a telescopic rod (36) is hingedly connected between the fixed plate (33) and the push plate (35); the telescopic rod (36) is electrically connected to the second joint (29).

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