Material pushing-mixing mechanism suitable for material pushing robot

Abstract

The invention provides a material pushing-mixing mechanism suitable for a material pushing robot. The material pushing-mixing mechanism comprises a power transmission mechanism and a material pushing and mixing assembly. The power transmission mechanism comprises a power collection assembly, a power transmission assembly, a power execution assembly and a material pushing and mixing assembly, the power transmission assembly is connected with the power collection assembly, and the power collection assembly transmits power provided by wheels of the material pushing robot to the power execution assembly through the power transmission assembly; the material pushing and mixing assembly comprises an arc-shaped plate; the power execution assembly comprises a spiral auger shaft and a spiral auger, the spiral auger shaft is arranged on the arc-shaped plate, the spiral auger shaft is driven by power to rotate, the spiral auger is arranged on the spiral auger shaft, and the spiral auger can rotate when the wheels advance. The feed pushing robot is simple in structure, convenient to operate and suitable for continuously advancing, and feed mixing uniformity and feed pushing efficiency are effectively improved.

Description

Technical Field

[0001] The present invention belongs to the field of dairy cow feeding, and particularly relates to a feeding and mixing mechanism applicable to a pusher robot, which is used for pushing and mixing feed during the feeding process of dairy cows. Background Art

[0002] Dairy cow feeding is an important link in the dairy cow breeding industry. When dairy cows eat feed, they have the behavior of picky eating and arching the feed, and will eat the favorite part of the mixed feed and arch the disliked part away, resulting in unbalanced nutrition of dairy cows and feed waste.

[0003] In dairy farms, it is common to use manual pushing of feed or driving a modified forklift to push the feed that has been arched out back into the feed trough. At present, there are also trial applications of pusher robots to push the feed back into the feed trough in a targeted manner. However, manual pushing of feed will consume a large amount of manpower and time. Although most of the current modified forklifts and pusher robots can push the feed, they cannot redistribute the feed a second time.

[0004] A dairy cow auxiliary feeding robot disclosed in Chinese invention patent CN112975962A includes a mobile chassis, a control system, a feeding and leveling device installed on one side of the chassis, and an image acquisition system; the image acquisition system transmits the collected data to the control system; the control system plans the traveling path of the mobile chassis and controls the feeding and leveling device to push the feed according to the collected data; the feeding and leveling device includes a lead screw link mechanism and a feeding mechanism installed on the lead screw link mechanism; the lead screw link mechanism includes a slider stepping motor, a lead screw, a slider, a linear guide rail, and a six-bar mechanism installed on the slider; the slider is installed on the lead screw, and the slider stepping motor is connected to the lead screw to directly drive the lead screw. By controlling the number of turns and direction of the rotation of the slider stepping motor, the slider moves back and forth on the linear guide rail, thereby driving the six-bar mechanism to move and changing the pose of the feeding mechanism. Although this technical solution realizes the secondary collection and targeted pushing of the feed, there is still a problem that the feed cannot be mixed during pushing. Summary of the Invention

[0005] In order to overcome at least one of the deficiencies existing in the prior art, the present invention provides a feeding and mixing mechanism applicable to a pusher robot, which can stir the feed when the pusher robot pushes the feed, and is applicable to a pusher robot with a detachable pusher plate and capable of autonomous feeding. The present invention can remix the feed and push the feed far from the feed trough to the near-feed trough end.

[0006] The present invention is achieved by at least one of the following technical solutions.

[0007] A feeding and mixing mechanism applicable to a pusher robot includes a power transmission mechanism and a feeding and mixing assembly; The power transmission mechanism includes a power collection component, a power transmission component and a power execution component. The power transmission component is connected to the power collection component. The power collection component transmits the power provided by the wheels of the pusher robot to the power execution component through the power transmission component. The material pushing and mixing assembly includes an arc-shaped plate; The power execution component includes a spiral dragon shaft and a spiral auger. The spiral dragon shaft is arranged on the arc plate and rotates under the driving of the power. The spiral auger is arranged on the spiral dragon shaft, and the spiral dragon can rotate when the wheel moves forward.

[0008] Furthermore, the power collection component includes a first universal bearing and a first slider, the first universal bearing is connected to the wheel axle of the robot, and the first universal bearing is connected to the first slider, and the first slider is connected to the power execution component through the power transmission component; when the wheel rotates, the wheel axle rotates, and the first slider is driven to reciprocate through the first universal bearing.

[0009] One end of the first universal bearing is connected to the original wheel shaft of the pusher robot and can rotate with the rotation of the wheel; the first sliding block is located on the left middle axis and can slide within a certain range of the left middle axis. Furthermore, the power collection assembly also includes a left bracket and a left middle axis, the left middle axis is arranged on the left bracket, and the first sliding block is slidably arranged on the left middle axis.

[0010] Furthermore, the power transmission component includes a thin rope, one end of which is connected to the first slider, and the other end of which is connected to the power execution component.

[0011] Furthermore, the power transmission component also includes a rope loop and multiple auxiliary positioning blocks. The multiple auxiliary positioning blocks are arranged at intervals between the first slider and the power execution component. The rope loop is connected to the multiple auxiliary positioning blocks, and the two ends of the rope loop are respectively arranged close to the first slider and the power execution component, and the thin rope passes through the rope loop.

[0012] The thin rope is connected to the first slider and can make reciprocating motion along with the first slider; the thin rope cannot be contracted but can make reciprocating motion in the rope loop.

[0013] The total length of the rope loop remains unchanged and cannot be extended or retracted. It passes through various auxiliary positioning blocks on the pusher robot and reaches the power execution component. The thin rope starts from the first slider at the end of the power collection component, passes through the rope loop, reaches the power execution component and is connected to the second slider of the power execution component.

[0014] Furthermore, the gap between the thin rope and the rope loop is less than 3 mm.

[0015] Furthermore, lubricating oil is provided between the thin rope and the rope loop.

[0016] Furthermore, the power execution component also includes a right central axis, a spring seat, a spring, a second universal bearing, a second slider and two magnets. The second slider is slidably arranged on the right central axis and is connected to the other end of the thin rope passing through the rope loop (the thin rope is connected to the second slider that can slide on the right central axis after reaching the power execution component). The spring seat is arranged on the right central axis and away from the other end of the thin rope. The two ends of the spring are respectively connected to the spring seat and the second slider. The second universal bearing is connected to the second slider and the spiral dragon shaft. The two magnets are respectively arranged near the lower part of the spring seat, near the other end of the thin rope and at the upper part of the thin rope.

[0017] The rotational motion of the wheel is converted into the reciprocating motion of the first slider through the power collection assembly; the reciprocating motion of the first slider is converted into the reciprocating motion of the thin rope in the rope loop and the reciprocating motion of the second slider through the power transmission assembly, the second slider and the spring; the reciprocating motion of the second slider is converted into the rotation of the second universal bearing through the power execution assembly and drives the spiral dragon shaft and the spiral dragon to rotate.

[0018] When the thin rope is retracted into the rope loop, the second universal bearing rotates from the lower part near the spring seat end to the lower part near the rope loop end, and under the attraction of inertia and the magnetic force of the magnet, the second universal bearing rotates from the lower part near the rope loop end to the upper part near the rope loop end. At this time, the thin rope is no longer retracted into the rope loop, and the second slider is pulled toward the spring seat under the elastic force of the spring, and the second universal bearing rotates from the upper part near the rope loop end to the upper part near the spring seat end; after the second universal bearing reaches the upper part near the spring seat end, under the attraction of inertia and the magnetic force of the magnet, the second universal bearing rotates from the upper part near the spring seat end to the lower part near the spring seat end to complete the rotation; further, the spiral dragon shaft completes a cycle of rotation in this process as the second universal bearing rotates.

[0019] Furthermore, the arc plate includes an upper plate and a shovel plate, and both the upper plate and the shovel plate are arc-shaped.

[0020] Furthermore, the arc-shaped plate also includes a transition plate, and the transition plate is located between the upper plate and the shovel plate.

[0021] Furthermore, the upper plate is a 90-degree sector-shaped cylinder, tangent to the transition plate; the inner diameter of the upper plate is not more than 160 mm and not less than 140 mm; the shovel plate is a sector-shaped cylinder less than 90 degrees, tangent to the transition plate; the inner diameter of the shovel plate is not more than 190 mm and not less than 170 mm; when the push plate pushes the feed, the feed rises along the shovel plate to the highest point of the upper plate and then falls down, which can mix the feed to a certain extent.

[0022] Compared with the prior art, the present invention has the following beneficial effects: (1) Mixing function. The feed can be mixed when the push plate collects and unloads the feed. The feed is mixed more evenly by the spiral dragon stirring the feed when pushing the feed and the feed moving from bottom to top and falling down.

[0023] (2) Free of additional electric drive. When mixing the compound feed, the feeding robot does not need to add an additional motor, thus being free of additional electric drive, and the whole device is of a mechanical structure. Description of the Drawings

[0024] Figure 1 It is a schematic installation diagram in an embodiment of the present invention; Figure 2 It is a schematic diagram of the power collection component in an embodiment of the present invention; Figure 3 It is a schematic diagram of the power execution component and the push plate in an embodiment of the present invention; Figure 4 and Figure 5 It is a schematic diagram of the reciprocating motion of the first slider in the power collection component and the spring force driving the second slider in the power execution component to perform reciprocating motion; In the figure: 1 - power collection component, 2 - power transmission component, 3 - power execution component, 4 - feeding and mixing component; 101 - left bracket, 102 - left middle shaft, 103 - first slider, 104 - first universal bearing, 105 - wheel shaft, 106 - wheel, 201 - one end of the thin string, 202 - the other end of the thin string, 203 - one end of the string sleeve, 204 - the other end of the string sleeve, 205, 206, 207 - auxiliary positioning blocks, 301 - spring seat, 302 - spring, 303 - spiral auger shaft, 304 - second universal bearing, 305 - right middle shaft, 306 - second slider, 307 - first magnet, 308 second magnet, 309 - spiral auger, 401 - upper plate, 402 - transition plate, 403 - shovel plate, 404 - first side plate, 405 - second side plate. Detailed Embodiments

[0025] The following further describes in detail the invention object of the present invention in conjunction with the drawings and specific embodiments. The embodiments cannot be elaborated one by one here, but the embodiments of the present invention are not limited to the following embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Such as Figures 1 to 4As shown in the figure, a feeding - mixing mechanism applicable to a feeding robot provided by an embodiment of the present invention includes a power transmission mechanism and a feeding - mixing assembly 4. The power transmission mechanism includes a power collection assembly 1, a power transmission assembly 2, and a power execution assembly 3. The feeding - mixing mechanism can be directly installed on an existing feeding robot (such as the robot provided by CN112975962A). The power collection assembly 1 and the power execution assembly 3 are respectively located on the left and right sides of the feeding robot. The power transmission assembly 2 is connected to the power collection assembly 1, and the power collection assembly 1 transmits the power provided by the wheels of the feeding robot to the power execution assembly 3 through the power transmission assembly 2.

[0027] As Figure 2 shown, the power collection assembly adopts a three - axis transmission mechanism. The power collection assembly 1 includes a left bracket 101, a left middle shaft 102 installed on the left bracket 101, a first slider 103 slidably disposed on the left middle shaft 102, and a first universal joint 104 with one end connected to the first slider 103 and the other end connected to a wheel shaft 105. The other end of the wheel shaft 105 of the robot is connected to the wheel 106 of the feeding robot. The wheel 105 is the wheel of the feeding robot itself. By connecting the first universal joint 104 to the wheel shaft 105 on the wheel 106, power is transmitted. When the wheel shaft 105 rotates as the wheel 106 moves forward, the first universal joint 104 also rotates accordingly, driving the first slider 103 to perform a reciprocating motion, converting the rotation of the wheel 106 into the reciprocating motion of the first slider 103 through the wheel shaft 105 and the first universal joint 104.

[0028] As Figure 2 shown, the power transmission assembly 2 is used to transmit the reciprocating motion of the first slider in the power collection assembly to the second slider in the power execution assembly and maintain its reciprocating motion state. It includes a thin rope, a rope sleeve, and multiple auxiliary positioning blocks (205, 206, 207). One end 203 of the rope sleeve is fixed to the auxiliary positioning block 205 near the first slider 103 and passes through several other auxiliary positioning blocks 206 in the mechanism. The other end 204 of the rope sleeve is fixed to the auxiliary positioning block 207 near the second slider 306. Only the auxiliary positioning blocks near the first slider 103 and the second slider 306 need to determine their positions. The remaining auxiliary positioning blocks only need to guide the rope sleeve from the power transmission assembly 2 to the power execution assembly 3 without affecting the operation of the mechanism, and there are no other restrictions on the quantity and position. The central axis of the other end of the rope sleeve 204 and the central axis of the second slider 306 are in the same plane, and the central axis of one end 203 of the rope sleeve and the central axis of the first slider 103 are in the same plane. The thin rope passes through the rope sleeve, and one end 201 of the thin rope is connected to the first slider 103, and the other end 202 of the thin rope is connected to the power execution assembly 3. Under the lubrication of lubricating oil, the thin rope can move back and forth in the rope sleeve.

[0029] As Figure 3 shown, the power execution assembly 3 can convert the reciprocating motion of the second slider into the rotation of the spiral auger, and includes a spring seat 301, a spring 302, a spiral auger shaft 303, a second universal bearing 304, a right middle shaft 305, a second slider 306, a first magnet 307 and a second magnet 308. One end of the right middle shaft 305 is fixed on the auxiliary positioning block 207, and the spring seat 301 is arranged at the other end of the right middle shaft 305. One end of the spring 302 is connected to the spring seat 301; the second slider 306 is slidably arranged on the right middle shaft 305, and one end of the second slider 306 is connected to the other end 202 of the thin rope, and the other end of the second slider 306 is connected to the other end of the spring 302. The side wall of the second slider 306 is connected to one end of the second universal bearing 304, and the other end of the second universal bearing 304 is connected to the spiral auger shaft 303; the second magnet 308 is located at the lower part of the end near the spring seat 301, the first magnet 307 is arranged close to the other end 202 of the thin rope and is located above the other end 202 of the thin rope. A spiral auger 309 is arranged on the spiral auger shaft 303.

[0030] When the first slider 103 moves from the end near the rope sleeve 203 to the end near the left bracket 101, one end 201 of the thin rope also moves in the direction of the left bracket 101 inside the end 203 of the rope sleeve. Since one end 201 and the other end 202 of the thin rope are the two ends of the same rope, at this time, the other end 202 of the thin rope is pulled by one end 201 of the thin rope and is drawn into the other end 204 of the rope sleeve and moves towards the power collection assembly 1, as Figure 4 shown. When the other end 202 of the thin rope is drawn into the direction of the other end 204 of the rope sleeve, the second slider 306 moves towards the first magnet 307 under the traction of the other end 202 of the thin rope due to being connected to the thin rope. At this time, the second universal bearing 304 rotates from the lower part of the end near the spring seat 301 to the lower part of the other end 204 of the rope sleeve, and under the action of inertia and the magnetic attraction of the first magnet 307, the second universal bearing 304 rotates from the lower part of the other end 204 of the rope sleeve to the upper part of the other end 204 of the rope sleeve. At the same time, the spring 302 connected to the second slider 306 is also stretched to the maximum value, and at this time, the elastic force in the spring is the largest; As Figure 4 shown, after the first slider 103 moves to the limit position in the direction of the left bracket 101, it is driven by the rotation of the first universal bearing 104 to move from the end near the left bracket 101 to the end near the rope sleeve 203. At this time, there is no longer a tensile force in the thin rope pointing from the power execution assembly 3 to the power collection assembly 1. Since the spring 301 is stretched at this time, the elastic force in the spring 301 pulls the second slider 306 from the end near the other end 204 of the rope sleeve to the end near the spring seat 301, as Figure 5As shown. In this process, the second universal bearing 304 also rotates accordingly, moving from the upper part of the end near the first magnet 307 to the upper part of the end near the spring seat 301, and then the second universal bearing 304 is attracted from the upper part of the end near the spring seat 301 to the lower part of the end near the spring seat 301 under the inertia and attraction of the second magnet 308. Since the other end of the second universal bearing 304 is connected to the spiral dragon shaft 303, when the second universal bearing 304 rotates, the spiral dragon shaft 303 will rotate together, thereby driving the spiral dragon 309 to rotate; at this point, the reciprocating motion of the first slider 103 is converted into the reciprocating motion of the thin rope in the rope loop and the reciprocating motion of the second slider 306 through the power transmission component 2, the second slider 306 and the spring 302.

[0031] In this process, the reciprocating motion of the first slider 103 is converted into the reciprocating motion of the thin rope in the rope loop, the reciprocating motion of the second slider 306 and the rotation of the second universal bearing 304 through the power transmission assembly 2, the second slider 306 and the spring 302. When the second slider 306 reciprocates, the power is given by the other end 202 of the thin rope in the process of the second slider 306 moving from the end near the spring seat 301 to the end near the first magnet 307; the power is given by the tension of the spring 302 in the process of the second slider 306 moving from the end near the first magnet 307 to the end near the spring seat 301.

[0032] The pushing and mixing assembly 4 includes an arc plate, a first side plate 404 and a second side plate 405 located on the left and right sides of the arc plate, and the spiral dragon shaft 303 is connected to the first side plate 404 and the second side plate 405; the spiral dragon shaft 30 is located on the arc plate, and the spiral dragon 309 can rotate with the spiral dragon shaft 303 when the wheel moves forward. The arc plate includes an upper plate 401, a transition plate 402 and a shovel plate 403, one side of the transition plate 402 is connected to the upper plate 401, and the other side is connected to the shovel plate 403. The upper plate 401 is a 90-degree sector cylinder, tangent to the transition plate 402.

[0033] When the pushing and mixing component 4 pushes the feed, due to the relative movement between the pushing and mixing component 4 and the feed, the feed enters along the shovel plate 403, rises to the highest point of the upper plate 401, and then falls down, and mixes with the feed in the shovel plate 403 at this time, and the feed is mixed to a certain extent. When the pushing robot moves forward, the spiral dragon 309 rotates and mixes the feed under the action of the pushing and mixing mechanism, and transports the feed on the right side to the left side of the spiral dragon 309.

[0034] In one embodiment of the present invention, a mounting plate is further included, the mounting plate is located on one side of the material pushing and mixing assembly 4, and the auxiliary positioning block 207 is fixed on the mounting plate. The mounting plate is connected to a material pushing robot (such as the robot provided in CN112975962A).

[0035] In one embodiment of the present invention, the structure formed by splicing the upper plate 401, the transition plate 402 and the shovel plate 403 is arc-shaped.

[0036] In one embodiment of the present invention, the height of the transition plate 402 is zero, and both the upper plate 401 and the shovel plate 403 are arc plates. In other embodiments, when the overall height of the upper plate 401 and the shovel plate 403 is too low, the height of the transition plate 402 can be increased to prevent the overall height of the spliced plate from being too low.

[0037] In one embodiment of the present invention, the gap between the thin rope and the rope sleeve is less than 3 mm, and the thin rope and the rope sleeve are lubricated with lubricating oil.

[0038] In one embodiment of the present invention, the inner diameter of the upper plate 401 is not greater than 160 mm and not less than 140 mm; the shovel plate 403 is a sector-shaped cylinder less than 90 degrees and is tangent to the transition plate 402; the inner diameter of the shovel plate 403 is not greater than 190 mm and not less than 170 mm.

[0039] A feeding-mixing mechanism applicable to a feeding robot provided in the foregoing embodiment of the present invention converts the rotation of the wheel into the reciprocating motion of the first slider through the wheel shaft and the first universal bearing by means of a power collection assembly; the power transmission assembly transmits the reciprocating motion of the first slider in the power collection assembly to the second slider in the power execution assembly and maintains its reciprocating motion state; the power execution assembly then converts the reciprocating motion of the second slider into the rotation of the spiral auger. During the forward movement of the feeding robot, the spiral auger can automatically mix the feed, and the feed rises along the arc of the feeding-mixing assembly and then falls by itself, thereby realizing the synchronous progress of feeding and mixing.

[0040] As described above, the present invention can be preferably realized.

[0041] The above-described embodiments are only a preferred solution of the present invention, but they are not intended to limit the present invention. Those of ordinary skill in the relevant technical fields can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A pushing-mixing mechanism applicable to a pushing robot, characterized in that, It includes a power transmission mechanism and a material pushing and mixing assembly (4); The power transmission mechanism includes a power collection assembly (1), a power transmission assembly (2) and a power execution assembly (3). The power transmission assembly (2) is connected to the power collection assembly (1), and the power collection assembly (1) transmits the power provided by the wheels of the material pushing robot to the power execution assembly (3) through the power transmission assembly (2); The material pushing and mixing assembly (4) includes an arc-shaped plate; The power execution assembly includes a spiral auger shaft (303) and a spiral auger (309). The spiral auger shaft (303) is arranged on the arc-shaped plate, and the spiral auger shaft (303) rotates under the drive of the power. The spiral auger (309) is arranged on the spiral auger shaft (303).

2. The feeding-mixing mechanism applicable to a feeding robot according to claim 1, characterized in that The power collection assembly (1) includes a first universal bearing (104) and a first slider (103). The first universal bearing (104) is connected to the wheel shaft (105) of the robot, and the first universal bearing (104) is connected to the first slider (103). The first slider (103) is connected to the power execution assembly (3) through the power transmission assembly (2); When the wheel (106) rotates, the wheel shaft (105) rotates, and the first slider (103) is driven to reciprocate through the first universal bearing (104).

3. The feeding-mixing mechanism for a feeding robot according to claim 2, characterized in that The power collection assembly (1) further includes a left bracket (101) and a left middle shaft (102). The left middle shaft (102) is arranged on the left bracket (101), and the first slider (103) is slidably arranged on the left middle shaft (102).

4. The feeding-mixing mechanism for a feeding robot according to claim 2, characterized in that, The power transmission assembly (2) includes a thin rope. One end (201) of the thin rope is connected to the first slider (103), and the other end (202) of the thin rope is connected to the power execution assembly (3).

5. The pusher-mixer mechanism for a pusher robot according to claim 4, characterized in that, The power transmission assembly (2) further includes a rope sleeve and a plurality of auxiliary positioning blocks. A plurality of auxiliary positioning blocks are arranged at intervals between the first slider (103) and the power execution assembly (3). The rope sleeve is connected to the plurality of auxiliary positioning blocks, and both ends of the rope sleeve are respectively close to the first slider (103) and the power execution assembly (3), and the thin rope passes through the rope sleeve.

6. The pusher-mixer mechanism applicable to a pusher robot according to claim 4, wherein, The power execution assembly (3) further includes a right middle shaft (305), a spring seat (301), a spring (302), a second universal bearing (304), a second slider (306) and two magnets. The second slider (306) is slidably arranged on the right middle shaft (305) and is connected to the other end (202) of the thin rope. The spring seat (301) is arranged on the right middle shaft (305) and is arranged away from the other end (202) of the thin rope. Both ends of the spring (302) are respectively connected to the spring seat (301) and the second slider (306). The second universal bearing (304) is connected to both the second slider (306) and the spiral auger shaft (303); The two magnets are respectively close to the lower part of the spring seat (301), close to the other end (202) of the thin rope and are arranged above the thin rope.

7. The pusher-mixer mechanism applicable to a pusher robot according to claim 6, wherein, The stroke of the reciprocating movement of the first slider (103) is equal to the stroke of the second slider (306).

8. A pusher-mixer mechanism applicable to a pusher robot according to any one of claims 1-7, characterized in that, The arc-shaped plate includes an upper plate (401) and a shovel plate (403). Both the upper plate (401) and the shovel plate (403) are arc-shaped.

9. The pusher-mixer mechanism applicable to a pusher robot according to claim 8, characterized in that, The arc-shaped plate further includes a transition plate (402), and the transition plate (402) is located between the upper plate (401) and the shovel plate (403).

10. A pushing-mixing mechanism applicable to a pushing robot according to claim 9, characterized in that, The upper plate (401) is a 90-degree sector-shaped cylinder and is tangent to the transition plate (402); the shovel plate (403) is a sector-shaped cylinder less than 90 degrees and is tangent to the transition plate (402).

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