Attitude-adjustable spiral material pushing and overturning robot and using method

Abstract

The invention relates to the technical field of fodder feeding auxiliary devices, and discloses a posture-adjustable spiral type fodder pushing and overturning robot and a using method thereof.The posture-adjustable spiral type fodder pushing and overturning robot comprises a frame; the material pushing and turning assembly comprises a material pushing part and a material turning and conveying part, the material turning and conveying part is arranged at the front end of the frame and used for turning and conveying the stacked feed, the material pushing part is arranged on the material turning and conveying part, and when the frame advances, the material pushing part is used for collecting the feed into the material turning and conveying part; the sweeping part is mounted at the rear end of the frame and used for sweeping the bottom surface after the materials are pushed; and the adjusting assembly comprises a first adjusting piece and a second adjusting piece, and the first adjusting piece and the second adjusting piece are used for controlling the material turning and conveying piece and the sweeping piece to move in the vertical direction and the transverse direction correspondingly. The posture of the feed pushing device can be conveniently adjusted, the feed pushing device is suitable for feed pushing under different conditions, the pushing resistance is reduced, uniform mixing of feed is guaranteed, and the pushing efficiency and the health condition of livestock are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of feed feeding auxiliary devices, and particularly relates to a spiral overturning and feeding robot with adjustable posture and a using method thereof. Background Art

[0002] At present, after the pasture feed is put, the manual pushing method is generally adopted to frequently push the feed in the non-feeding area to the feeding area. This mode has significant defects: human activities are likely to cause stress reactions in livestock, resulting in the interruption of feeding. At the same time, there is a risk of human contact contaminating the feed. To improve the traditional operation mode, the industry has introduced the technology of pushing robots. It realizes the displacement transmission of feed from the scattered area to the feeding area through a roller device and a screw conveyor. However, since the paths of the robots are generally fixed, when the feed is more, the effect is obvious. But when the feed becomes less, the feed delivery volume is significantly reduced, and it needs to be pushed multiple times to push the remaining feed to the feeding area. Moreover, most robots use a bottom scraper to push the remaining feed. Such repeated movements make the feeding passage be crushed by the wheels, becoming indentations that are difficult to clean. The existing spiral pushing robots cannot move the screw conveyor horizontally left and right, resulting in the inability to push a small amount of feed, causing feed waste. Its function is single. The mainstream spiral devices use a single-head screw conveyor, which cannot evenly stir the feed, resulting in serious feed stratification and caking, directly affecting the feeding efficiency of livestock and the balance of nutritional intake. The mechanical structure has redundancy. The existing adjustable posture models mostly use a screw lifting system but do not have a horizontal movement function. The complex mechanical structure not only significantly increases the manufacturing cost of the equipment, but also leads to an increase in the failure rate and maintenance cost. There are limitations in economic applicability. Restricted by the high-cost structure design, the current unit price of the equipment generally exceeds the affordability threshold of small and medium-sized pastures, seriously restricting the popularization and application of the technology in cost-sensitive breeding scenarios.

[0003] Therefore, there is an urgent need for a spiral overturning and feeding robot with adjustable posture and a using method thereof to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a spiral overturning and feeding robot with adjustable posture to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above purpose, the present invention provides the following solution: The present invention provides a spiral overturning and feeding robot with adjustable posture, including:

[0006] A frame;

[0007] An overturning and feeding assembly, including a feeding member and a turning and conveying member. The turning and conveying member is arranged at the front end of the frame and is used for turning and conveying the stacked feed. The feeding member is arranged on the turning and conveying member. When the frame moves forward, the feeding member is used for collecting the feed into the turning and conveying member;

[0008] A cleaning member, installed at the rear end of the vehicle frame, for cleaning the bottom surface after pushing the materials.

[0009] An adjusting assembly, including a first adjusting member and a second adjusting member, where the first adjusting member and the second adjusting member are respectively used to control the vertical and horizontal movement of the material overturning conveyor and the cleaning member.

[0010] A spiral overturning and discharging robot with adjustable posture provided by the present invention, where the material overturning conveyor includes a auger support, installed on the vehicle frame through the first adjusting member. The auger support is an open structure, and a double - headed spiral conveyor is installed on the inner wall of the auger support through a slewing bearing. The double - headed spiral conveyor is used for turning over and conveying feed.

[0011] A spiral overturning and discharging robot with adjustable posture provided by the present invention, where the material pushing member includes a scraper, and the scraper is fixedly connected to the bottom end of the auger support.

[0012] A spiral overturning and discharging robot with adjustable posture provided by the present invention, where the cleaning member includes a brush cover, and a brush is installed on the brush cover through a brush support.

[0013] A spiral overturning and discharging robot with adjustable posture provided by the present invention, where the first adjusting member includes an auger lifting support, which is connected to the vehicle frame through a first hydraulic cylinder. A support rod is installed on the auger lifting support. The top end of the auger support is fixedly connected with a first slider, and the first slider is slidably connected to the support rod. The auger support is connected to the auger lifting support through a second hydraulic cylinder.

[0014] A spiral overturning and discharging robot with adjustable posture provided by the present invention, where the second adjusting member includes a slide rail, which is fixedly connected to the vehicle frame. A second slider and a third slider are slidably connected to the slide rail. The second slider and the third slider are respectively fixedly connected to the brush cover. A brush transverse moving push rod is fixedly connected to the vehicle frame, and the telescopic end of the brush transverse moving push rod is fixedly connected to the brush cover. A brush lifting motor is fixedly connected to the brush cover, and the lifting end of the brush lifting motor is fixedly connected to the brush support.

[0015] A spiral overturning and discharging robot with adjustable posture provided by the present invention further includes a radar lifting push rod, fixedly connected to the top end of the vehicle frame. The telescopic end of the radar lifting push rod is fixedly connected with a radar. An electrical cabinet and a battery are fixedly connected to the vehicle frame.

[0016] A spiral overturning and discharging robot with adjustable posture provided by the present invention further includes a path planning module, used for planning the traveling path of the vehicle frame.

[0017] The present invention provides a spiral overturning and feeding robot with adjustable posture, which further includes a monitoring module and a remote control module for remotely operating the robot.

[0018] A method for using a spiral overturning and feeding robot with adjustable posture includes the following steps:

[0019] Move the vehicle frame to the location where feeding is to be carried out;

[0020] Control the overturning and feeding component to descend to contact the ground end through the first adjusting member, and control the cleaning component to descend to contact the ground end through the second adjusting member;

[0021] Move the vehicle frame, push the feed to the feeding point through the overturning and feeding component, and clean the ground through the cleaning component;

[0022] As the feed decreases, control the overturning and feeding component to horizontally extend through the first adjusting member, and control the cleaning component to horizontally extend through the second adjusting member;

[0023] Move the vehicle frame, push the remaining feed to the feeding point through the overturning and feeding component, and clean the ground through the cleaning component.

[0024] Compared with the prior art, the present invention has the following advantages and technical effects:

[0025] For the spiral overturning and feeding robot with adjustable posture and its using method provided by the present invention, when pushing the feed, for a large amount of piled feed, control the overturning and feeding component to descend to contact the ground end through the first adjusting member, and control the cleaning component to descend to contact the ground end through the second adjusting member. Move the vehicle frame, push the feed to the feeding point through the overturning and feeding component, and clean the ground through the cleaning component; as the feed decreases, control the overturning and feeding component to horizontally extend through the first adjusting member, and control the cleaning component to horizontally extend through the second adjusting member. Move the vehicle frame, push the remaining feed to the feeding point through the overturning and feeding component, and clean the ground through the cleaning component. The posture of this application can be conveniently adjusted to adapt to feed pushing in different situations, reduce the pushing resistance, ensure the uniform mixing of the feed, and improve the pushing efficiency and the health condition of livestock. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings:

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 Schematic structural diagram of the overturning material component of the present invention;

[0029] Figure 3 Schematic structural diagram of the cleaning component of the present invention;

[0030] Figure 4 Schematic diagram of the positions of the overturning material component and the cleaning component when the present invention is in the unused state;

[0031] Figure 5 Schematic diagram of the positions of the overturning material component and the cleaning component when there is more feed in the present invention;

[0032] Figure 6 Schematic diagram of the positions of the overturning material component and the cleaning component when there is less feed in the present invention;

[0033] Figure 7 Flow chart of the optimized A* algorithm of the present invention;

[0034] Figure 8 Simulation test diagram of the optimized DWA algorithm of the present invention;

[0035] Among them, 1. Frame; 2. Radar lifting push rod; 3. Electrical cabinet; 4. Battery; 5. Radar; 6. Auger lifting bracket; 7. First slider; 8. Auger bracket; 9. Slewing bearing; 10. Double - headed screw conveyor; 11. Scraper; 12. Slide rail; 13. Second slider; 14. Brush cover; 15. Brush transverse movement push rod; 16. Third slider; 17. Brush lifting motor; 18. Brush bracket; 19. Brush. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the 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.

[0037] To make the above - mentioned objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0038] Referring to Figures 1-8 , the present invention provides a spiral overturning material robot with adjustable posture, including:

[0039] Frame 1;

[0040] The overturning and feeding component includes a feeding pusher and a turnover conveyor. The turnover conveyor is arranged at the front end of the vehicle frame 1 and is used for turning over and conveying the stacked feed. The feeding pusher is arranged on the turnover conveyor. When the vehicle frame 1 moves forward, the feeding pusher is used to collect the feed into the turnover conveyor;

[0041] The cleaning component is installed at the rear end of the vehicle frame 1 and is used for cleaning the bottom surface after feeding;

[0042] The adjusting component includes a first adjusting part and a second adjusting part. The first adjusting part and the second adjusting part are respectively used to control the vertical and horizontal movement of the turnover conveyor and the cleaning component.

[0043] In an embodiment of the present application, when feeding the feed, for a large amount of stacked feed, the overturning and feeding component is controlled by the first adjusting part to descend to contact the ground end, and the cleaning component is controlled by the second adjusting part to descend to contact the ground end. The vehicle frame 1 moves, and the feed is pushed to the feeding point by the overturning and feeding component, and the ground is cleaned by the cleaning component; as the feed decreases, the overturning and feeding component is controlled by the first adjusting part to extend horizontally, and the cleaning component is controlled by the second adjusting part to extend horizontally. The vehicle frame 1 moves, and the remaining feed is pushed to the feeding point by the overturning and feeding component, and the ground is cleaned by the cleaning component.

[0044] As an alternative implementation, the turnover conveyor includes a auger support 8, which is installed on the vehicle frame 1 through the first adjusting part. The auger support 8 is of an open structure. A double - head screw conveyor 10 is installed on the inner wall of the auger support 8 through a turntable bearing 9. The double - head screw conveyor 10 is used for turning over and conveying the feed.

[0045] In an embodiment of the present application, the auger support 8 is of an open structure and is used to collect the stacked feed when the vehicle frame 1 moves forward. The feed is conveyed into the auger support 8 and is conveyed and mixed by the arranged double - head screw conveyor 10, reducing the overall resistance of the equipment and ensuring the uniform mixing of the feed.

[0046] As an alternative implementation, the feeding pusher includes a scraper 11, and the scraper 11 is fixedly connected to the bottom end of the auger support 8.

[0047] In an embodiment of the present application, the stacked materials are collected and conveyed into the auger support 8 by the arranged scraper 11.

[0048] As an alternative implementation, the cleaning component includes a brush cover 14, and a brush 19 is installed on the brush cover 14 through a brush support 18.

[0049] In an embodiment of the present application, the ground is cleaned by the arranged brush 19.

[0050] As an alternative embodiment, the first adjusting member includes a screw conveyor lifting bracket 6, which is connected to the vehicle frame 1 through a first hydraulic cylinder. A support rod is installed on the screw conveyor lifting bracket 6. The top end of the screw conveyor bracket 8 is fixedly connected with a first slider 7, and the first slider 7 is slidably connected to the support rod. The screw conveyor bracket 8 is connected to the screw conveyor lifting bracket 6 through a second hydraulic cylinder.

[0051] In an embodiment of the present application, the first hydraulic cylinder drives the screw conveyor lifting bracket 6 to move vertically, realizing the height adjustment of the screw conveyor bracket 8. The second hydraulic cylinder drives the screw conveyor bracket 8 to move horizontally, realizing the horizontal position adjustment.

[0052] As an alternative embodiment, the second adjusting member includes a slide rail 12, which is fixedly connected to the vehicle frame 1. A second slider 13 and a third slider 16 are slidably connected to the slide rail 12. The second slider 13 and the third slider 16 are respectively fixedly connected to the brush cover 14. A brush transverse movement push rod 15 is fixedly connected to the vehicle frame 1, and the telescopic end of the brush transverse movement push rod 15 is fixedly connected to the brush cover 14. A brush lifting motor 17 is fixedly connected to the brush cover 14, and the lifting end of the brush lifting motor 17 is fixedly connected to the brush bracket 18.

[0053] In an embodiment of the present application, the brush cover 14 is slidably connected to the slide rail 12 through the second slider 13 and the third slider 16. The brush cover 14 is pushed to move horizontally by the brush transverse movement push rod 15, and the vertical height adjustment of the brush 19 is controlled by the brush lifting motor 17.

[0054] As an alternative embodiment, it further includes a radar lifting push rod 2, which is fixedly connected to the top end of the vehicle frame 1. The telescopic end of the radar lifting push rod 2 is fixedly connected with a radar 5. An electrical cabinet 3 and a battery 4 are fixedly connected to the vehicle frame 1.

[0055] In an embodiment of the present application, the radar 5 is a lidar. The height adjustment is realized through the provided radar lifting push rod 2, and the scanning height is dynamically adjusted according to the terrain and obstacles in different channels to ensure the accuracy of environmental perception.

[0056] As an alternative embodiment, it further includes a path planning module for planning the traveling path of the vehicle frame 1.

[0057] In an embodiment of the present application, an improved A* algorithm and DWA algorithm are used for global path planning and local path planning of the robot. The dynamic obstacles and static obstacles in the robot channel are comprehensively considered for real-time obstacle avoidance. Dynamic obstacle avoidance is realized to ensure the safety and stability of the robot in a task-intensive scenario. The path planning algorithm of the overturning material robot is managed by the robot control system.

[0058] Although the traditional A* algorithm can find the optimal solution, it often saves a large number of redundant nodes during the path search process, resulting in low search efficiency and long path planning time in the dairy farm scenario. In addition, the generated path often has multiple turning points, resulting in a lack of smoothness of the path and unable to plan a working path suitable for the operation of the overturning and feeding robot. In addition, the path generated by the traditional A* algorithm may collide with obstacles or pass through obstacles, seriously affecting the safety of the autonomous navigation of the overturning and feeding robot.

[0059] To address these issues, this paper improves the heuristic function, key point selection method, and reduction of domain search of the traditional A* algorithm. These improvements aim to accelerate the search process, reduce the number of turns in the path, and create a smoother trajectory, thereby enhancing the overall algorithm performance in the pathfinding task.

[0060] The overturning and feeding robot can navigate well on the global map with complete environmental information. However, in practical applications, unknown obstacles may appear on the original navigation path of the robot. Therefore, based on the global path planning, this paper uses the optimized DWA algorithm to detect local environmental information through lidar and avoid obstacles in real time. By correcting the global trajectory, the local motion trajectory of the robot is optimized. During the trajectory optimization process, multiple optimization objectives are considered, including the overall path length, trajectory running time, distance from obstacles, passing through intermediate path points, and compliance with the dynamics, kinematics, and geometric constraints of the robot, to ensure that the robot can quickly reach the target point under various constraint conditions.

[0061] As an alternative implementation, it also includes a monitoring module and a remote control module for remotely operating the robot.

[0062] In an embodiment of this application, the monitoring module is preferably a camera, and the remote control module is a remote computer terminal, which improves the overall convenience and practicality through remote control.

[0063] A method for using a spiral overturning and feeding robot with adjustable posture includes the following steps:

[0064] Move the vehicle frame 1 to the location where the material needs to be pushed.

[0065] Control the overturning and feeding component to descend to contact the ground end through the first adjusting member, and control the cleaning component to descend to contact the ground end through the second adjusting member.

[0066] Move the vehicle frame 1, push the feed to the feeding point through the overturning and feeding component, and clean the ground through the cleaning component.

[0067] As the feed decreases, control the overturning and feeding component to extend horizontally through the first adjusting member, and control the cleaning component to extend horizontally through the second adjusting member.

[0068] The vehicle frame 1 moves, pushes the remaining feed to the feeding point through the overturning material pushing component, and sweeps the ground through the sweeping part.

[0069] In an embodiment of the present application, during use, the vehicle frame 1 moves to the material pushing point to be processed. The screw elevator bracket 6 is controlled by the first hydraulic cylinder to descend, so that the scraper 11 corresponds to the ground end. The brush 19 is controlled by the brush lifting motor 17 to descend and contact the ground end. The vehicle frame 1 moves forward. The piled-up feed enters the screw bracket 8 through the movement of the scraper 11 and the vehicle frame 1. The double-headed screw conveyor 10 stirs and conveys the feed, and the brush 19 is used for cleaning. When the piled-up feed decreases, the screw bracket 8 is pushed by the second hydraulic cylinder arranged to move horizontally and extend out. The brush cover 14 is driven by the brush horizontal movement push rod 15 arranged to move horizontally and extend out. When the vehicle frame 1 moves forward, the extended screw bracket 8 collects the feed again for conveying, and is cleaned by the brush 19.

[0070] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0071] The embodiments described above are only descriptions of the preferred modes of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A spiral overturning material robot with adjustable posture, characterized in that, Comprising: Frame (1); Overturning and feeding assembly, including a feeding member and a turning and conveying member. The turning and conveying member is arranged at the front end of the frame (1) and is used for turning and conveying the stacked feed. The feeding member is arranged on the turning and conveying member. When the frame (1) moves forward, the feeding member is used to collect the feed into the turning and conveying member; Cleaning member, installed at the rear end of the frame (1) and used for cleaning the bottom surface after feeding; Adjusting assembly, including a first adjusting member and a second adjusting member. The first adjusting member and the second adjusting member are respectively used to control the vertical and horizontal movement of the turning and conveying member and the cleaning member.

2. The spiral overturning and feeding robot with adjustable posture according to claim 1, wherein: The turning and conveying member includes a auger support (8), which is installed on the frame (1) through the first adjusting member. The auger support (8) is of an open structure. A double - headed screw conveyor (10) is installed on the inner wall of the auger support (8) through a turntable bearing (9). The double - headed screw conveyor (10) is used for turning and conveying feed.

3. The adjustable posture spiral overturning material robot according to claim 2, characterized in that: The feeding member includes a scraper (11), and the scraper (11) is fixedly connected to the bottom end of the auger support (8).

4. A spiral overturning material robot with adjustable posture according to claim 1, characterized in that: The cleaning member includes a brush cover (14), and a brush (19) is installed on the brush cover (14) through a brush support (18).

5. The spiral overturning material robot with adjustable posture according to claim 2, characterized in that: The first adjusting member includes a auger lifting support (6). The auger lifting support (6) is connected to the frame (1) through a first hydraulic cylinder. A support rod is installed on the auger lifting support (6). The top end of the auger support (8) is fixedly connected with a first slider (7). The first slider (7) is slidably connected to the support rod. The auger support (8) is connected to the auger lifting support (6) through a second hydraulic cylinder.

6. The spiral overturning material robot with adjustable posture according to claim 4, characterized in that: The second adjusting member includes a slide rail (12). The slide rail (12) is fixedly connected to the frame (1). A second slider (13) and a third slider (16) are slidably connected to the slide rail (12). The second slider (13) and the third slider (16) are respectively fixedly connected to the brush cover (14). A brush transverse movement push rod (15) is fixedly connected to the frame (1). The telescopic end of the brush transverse movement push rod (15) is fixedly connected to the brush cover (14). A brush lifting motor (17) is fixedly connected to the brush cover (14). The lifting end of the brush lifting motor (17) is fixedly connected to the brush support (18).

7. The spiral overturning material robot with adjustable posture according to claim 1, characterized in that: It further includes a radar lifting push rod (2), which is fixedly connected to the top end of the frame (1). The telescopic end of the radar lifting push rod (has a radar (5) fixedly connected to it. An electrical cabinet (3) and a battery (4) are fixedly connected to the frame (1).

8. The spiral overturning material robot with adjustable posture according to claim 1, characterized in that: It further includes a path planning module for planning the traveling path of the frame (1).

9. The spiral overturning and discharging robot with adjustable posture according to claim 1, wherein: It further includes a monitoring module and a remote control module for remotely operating the robot.

10. A method of using a spiral overturning and discharging robot with adjustable posture, applicable to the spiral overturning and discharging robot with adjustable posture described in claim 1, characterized in that, Including the following steps: Move the frame (1) to the location to be fed; Control the overturning and feeding assembly to descend to contact the ground end through the first adjusting member, and control the cleaning member to descend to contact the ground end through the second adjusting member; The vehicle frame (1) moves, pushes the feed to the feeding point through the overturning and feeding component, and sweeps the ground through the cleaning part; As the feed decreases, the overturning and feeding component is controlled by the first adjusting part to extend horizontally, and the cleaning part is controlled by the second adjusting part to extend horizontally; The vehicle frame (1) moves, pushes the remaining feed to the feeding point through the overturning and feeding component, and sweeps the ground through the cleaning part.

Images