Pasture pushing robot

Abstract

The invention provides a pasture pushing robot, and relates to the technical field of breeding equipment, the pasture pushing robot comprises a frame body, a walking mechanism, a feeding mechanism and a feeding and discharging pipeline; the walking mechanism is arranged at the bottom of the frame body and used for driving the frame body to move. The feeding and discharging pipeline is arranged on the frame body, a feeding port and a discharging port are formed in the two ends of the feeding and discharging pipeline respectively, and the discharging port is provided with a valve with the adjustable opening degree. The feeding mechanism comprises two conveying belt assemblies symmetrically arranged on the frame body, the two conveying belt assemblies are oppositely arranged to be used for collecting feed, the two conveying belt assemblies convey the collected feed into the feeding and discharging pipeline through the feeding port, and the feed in the feeding and discharging pipeline is used for being discharged through the discharging port. Compared with the prior art, the pasture pushing robot has the advantages that feed ejected out by cattle can be collected and then quantitatively thrown back to a feeding area of the cattle, and feed waste is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of breeding equipment, and in particular to a pasture pushing robot. Background Art

[0002] In modern pastures, the process of feeding livestock with complete daily rations is basically carried out by manually operating livestock machinery and equipment. However, traditional feeding methods may have the following problems: 1. Feed waste problem in cattle farms.

[0003] In traditional ranches, especially cattle farms, cattle often push feed out of their eating areas while eating, making it impossible for the cattle to eat feed outside the eating area, resulting in feed waste.

[0004] 2. Problem of uneven feeding of feed.

[0005] Traditional feed feeding methods may result in uneven feeding, causing some cows to consume too much and others to consume too little.

[0006] 3. The degree of automation is low and the labor intensity is high.

[0007] Traditional feed pushing and feeding work in cattle farms relies on manual operation, which is labor-intensive and inefficient. Summary of the Invention

[0008] The present invention aims to solve at least one of the above technical problems.

[0009] The present invention provides a pasture pushing robot, comprising: Frame, traveling mechanism, feeding mechanism and inlet and outlet pipes; The walking mechanism is arranged at the bottom of the frame and is used to drive the frame to move; The inlet and outlet pipes are arranged on the frame, and the two ends of the inlet and outlet pipes are respectively provided with an inlet and an outlet, and the outlet is provided with a valve with adjustable opening; The feeding mechanism includes two conveyor belt assemblies symmetrically arranged on the frame, and the two conveyor belt assemblies are arranged opposite to each other for collecting feed. The two conveyor belt assemblies transport the collected feed to the inlet and outlet pipes through the feed port, and the feed in the inlet and outlet pipes is used to be discharged through the outlet.

[0010] The present invention provides a farm pushing robot, which has, but is not limited to, the following beneficial effects compared to the prior art: The farmland pusher robot described herein is equipped with a walking mechanism, enabling it to move freely within the farmland. Two conveyor belt assemblies are symmetrically arranged on a frame, with the two conveyor belt assemblies arranged in a figure-eight configuration in front of the frame. As the robot moves forward, feed is collected from the larger openings in front of the two conveyor belt assemblies and transported between them. Driven by the two conveyor belt assemblies, the feed is transported from the feed inlet of the feed pipes into the feed pipes. The feed in the feed pipes is then discharged into the feeding area through the discharge port. Furthermore, the discharge port of the feed pipes is equipped with an adjustable valve, which allows for quantitative feed discharge after the robot reaches a designated location. Compared to existing technologies, the farmland pusher robot of the present invention can, on the one hand, collect feed pushed out by cattle and return it to the cattle's feeding area in a quantitative manner, reducing feed waste. On the other hand, the valve can precisely control the amount of feed delivered each time according to the set feeding amount, ensuring that each cattle receives the appropriate amount of feed and avoiding overfeeding or underfeeding. Furthermore, the robot's automated operation reduces manual intervention, labor intensity, and improves work efficiency.

[0011] Optionally, the feeding mechanism further includes a driving assembly, two of the driving assemblies are spaced apart and arranged on the frame, and the two driving assemblies are respectively connected to the two conveyor belt assemblies.

[0012] Optionally, the conveyor belt assembly includes a horizontal rod, a vertical roller and a conveyor belt, the two horizontal rods are spaced apart in the vertical direction and are respectively connected to the frame, the two vertical rollers are spaced apart between the two horizontal rods, the conveyor belt is respectively sleeved on the two vertical rollers, and the drive assembly is drive-connected to one of the vertical rollers.

[0013] Optionally, the driving assembly includes a driving pulley, a driven pulley, a belt and a first motor, the first motor is arranged on the frame, the driving pulley is arranged on the output shaft of the first motor, the driven pulley is arranged on the vertical roller, and the driving pulley and the driven pulley are connected through the belt transmission.

[0014] Optionally, the valve includes a baffle and a telescopic rod, the baffle is hinged at the discharge port, the fixed end of the telescopic rod is arranged on the frame, and the telescopic end of the telescopic rod is connected to the baffle.

[0015] Optionally, the cross-sectional dimensions of the feed and discharge pipes gradually decrease from the feed port to the discharge port.

[0016] Optionally, the two conveyor belt assemblies are arranged in an eight-shaped structure at the front end of the frame in the direction of travel, wherein the small opening end of the eight-shaped structure is arranged close to the feed port.

[0017] Optionally, a depth camera is further included, and the depth camera is arranged at the front end of the moving direction of the frame.

[0018] Optionally, the walking mechanism includes four independent driving wheels arranged at the four corners of the bottom of the frame.

[0019] Optionally, the independent drive wheel includes a second motor and a wheel, the wheel is rotatably connected to the frame, and the second motor is drivingly connected to the wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the pasture pushing robot according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the pasture pushing robot according to an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the pasture pushing robot according to an embodiment of the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the structure of the pasture pushing robot according to an embodiment of the present invention. Figure 4 ; Figure 5 This is a pasture simulation diagram of an embodiment of the present invention.

[0021] Description of reference numerals: 1. Frame; 2. Conveyor belt assembly; 21. Horizontal rod; 22. Vertical roller; 23. Conveyor belt; 3. Inlet and outlet pipes; 31. Inlet; 32. Outlet; 4. Valve; 41. Baffle; 42. Telescopic rod; 5. Drive assembly; 51. Driving pulley; 52. Driven pulley; 53. Belt; 54. First motor; 6. Depth camera; 7. Wheel; 8. Protective cover. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0023] In the description of the present invention, the directions or positional relationships indicated by “up”, “down”, “left”, “right”, “top”, “bottom”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention. They do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the scope of protection of the present invention.

[0024] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical connections; direct connections or indirect connections via an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0025] Throughout this specification, references to terms such as "an embodiment," "one embodiment," and "an implementation" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or implementation are included in at least one embodiment or implementation of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

[0026] Moreover, the Z-axis in the accompanying drawings represents the vertical direction, that is, the up and down position, and the positive direction of the Z-axis (that is, the direction of the arrow of the Z-axis) represents the top, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents the bottom; the X-axis in the accompanying drawings represents the horizontal direction, that is, the left and right position, and the positive direction of the X-axis (that is, the direction of the arrow of the X-axis) represents the left, and the negative direction of the X-axis (that is, the direction opposite to the positive direction of the X-axis) represents the right; the Y-axis in the accompanying drawings represents the longitudinal direction, that is, the front and back position, and the positive direction of the Y-axis (that is, the direction of the arrow of the Y-axis) represents the front, and the negative direction of the Y-axis (that is, the direction opposite to the positive direction of the Y-axis) represents the back.

[0027] It should also be noted that the aforementioned Z-axis, X-axis, and Y-axis are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0028] like Figures 1 to 2 As shown, the farm pushing robot according to the embodiment of the present invention comprises: a frame 1, a walking mechanism, a feeding mechanism and an inlet and outlet pipe 3; The walking mechanism is provided at the bottom of the frame 1 and is used to drive the frame 1 to move; The inlet and outlet pipes 3 are provided on the frame 1 , and a feed port 31 and a discharge port 32 are provided at both ends of the inlet and outlet pipes 3 , respectively. The discharge port 32 is provided with a valve 4 with an adjustable opening; The feeding mechanism includes two conveyor belt assemblies 2 symmetrically arranged on the frame 1. The two conveyor belt assemblies 2 are arranged opposite to each other for collecting feed. The two conveyor belt assemblies 2 transport the collected feed to the inlet and outlet pipes 3 through the feed port 31. The feed in the inlet and outlet pipes 3 is used to be discharged through the outlet 32.

[0029] In this embodiment, combined with the Figure 1 and attached Figure 2 As shown, by providing a walking mechanism, the robot is given mobility, facilitating its movement in the pasture. Two conveyor belt assemblies 2 are symmetrically arranged on the frame 1, wherein the two conveyor belt assemblies 2 can be arranged in an "eight" shape in front of the frame. When the robot moves forward, feed is collected from the larger opening in front of the two conveyor belt assemblies 2 and transported between the two conveyor belt assemblies 2. The feed is then transported from the feed inlet 31 of the feed pipe 3 to the feed pipe 3 through the transmission action of the two conveyor belt assemblies 2. The feed in the feed pipe 3 can be discharged into the feeding area through the discharge port 32. In addition, a valve 4 with an adjustable opening is provided at the discharge port 32 of the feed pipe 3, which can discharge feed in a quantitative manner after the robot reaches a designated position. Compared with the existing technology, the pasture pushing robot of the present invention can, on the one hand, collect feed pushed out by cattle and return it to the cattle's feeding area in a quantitative manner, reducing feed waste. On the other hand, the valve can accurately control the amount of feed added each time according to the set feeding amount, ensuring that each cattle receives the appropriate amount of feed and avoiding overfeeding or underfeeding. Moreover, this robot can reduce manual intervention, lower labor intensity and improve work efficiency through automated operation.

[0030] In addition, combined with the Figure 4 As shown, a protective cover 8 can also be provided on the frame 1, wherein the protective cover 8 can be a rectangular box structure with an open lower end, the feed and discharge pipes 3 and part of the conveyor belt assembly 2 are located in the rectangular box structure, and the protective cover 8 can protect its internal structural parts.

[0031] Optionally, the feeding mechanism further includes a driving assembly 5 , two of the driving assemblies 5 are spaced apart and arranged on the frame 1 , and the two driving assemblies 5 are respectively connected to the two conveyor belt assemblies 2 in a driving manner.

[0032] In this embodiment, combined with the Figure 1 As shown, two driving assemblies 5 are symmetrically arranged on the frame 1, and the two driving assemblies 5 are respectively connected to the two conveyor belt assemblies 2 for driving. The driving assemblies 5 are used to drive the conveyor belt assemblies 2 to move.

[0033] Optionally, the conveyor belt assembly 2 includes a horizontal rod 21, a vertical roller 22 and a conveyor belt 23. The two horizontal rods 21 are spaced apart in the vertical direction and are respectively connected to the frame 1. The two vertical rollers 22 are spaced apart between the two horizontal rods 21. The conveyor belt 23 is respectively sleeved on the two vertical rollers 22. The driving assembly 5 is drivingly connected to one of the vertical rollers 22.

[0034] In this embodiment, combined with the Figure 2 and attached Figure 3 As shown, the conveyor belt assembly 2 includes two horizontal rods 21, two vertical rollers 22 and a conveyor belt 23, wherein the two horizontal rods 21 and the two vertical rollers 22 form a rectangular structure, that is, the two horizontal rods 21 can be connected to the frame 1 at intervals in the vertical direction by bolts, the two vertical rollers 22 are respectively connected between the two horizontal rods 21, the conveyor belt 23 is respectively sleeved on the two vertical rollers 22, and the driving assembly 5 is connected to one of the vertical rollers 22. The rotation of the vertical roller 22 will drive the conveyor belt 23 to rotate. Figure 2 As shown, when the conveyor belt assembly 2 is working, the conveyor belt 23 (attached Figure 2 The conveyor belt 23 with a reference numeral in the figure rotates counterclockwise, and the conveyor belt 23 of the other conveyor belt assembly 2 rotates clockwise, so that the feed between the two conveyor belt assemblies 2 can be transported to the inside of the inlet and outlet pipe 3.

[0035] Optionally, the driving assembly 5 includes a driving pulley 51, a driven pulley 52, a belt 53 and a first motor 54, the first motor 54 is arranged on the frame 1, the driving pulley 51 is arranged on the output shaft of the first motor 54, the driven pulley 52 is arranged on the vertical roller 22, and the driving pulley 51 and the driven pulley 52 are connected through the belt 53.

[0036] In this embodiment, combined with the Figure 3 As shown, the first motor 54 is installed on the frame 1, the driving pulley 51 is installed on the output shaft of the first motor 54, and the driven pulley 52 is installed on the vertical roller 22 close to the frame 1 among the two vertical rollers 22. The driving pulley 51 and the driven pulley 52 are connected through the belt 53. In this way, the vertical roller 22 can be driven to rotate by the first motor 54, and the rotation of the vertical roller 22 will drive the conveyor belt 23 to rotate.

[0037] Optionally, the valve 4 includes a baffle 41 and a telescopic rod 42 , the baffle 41 is hinged at the discharge port 32 , the fixed end of the telescopic rod 42 is provided on the frame 1 , and the telescopic end of the telescopic rod 42 is connected to the baffle 41 .

[0038] In this embodiment, combined with the Figure 3 As shown, the baffle 41 is hinged at the discharge port 32 of the inlet and outlet pipe 3, the fixed end of the telescopic rod 42 is installed on the frame 1, and the telescopic end of the telescopic rod 42 is hinged to the baffle 41. The telescopic rod 42 can be extended and retracted to drive the baffle 41 to deflect relative to the discharge port 32 of the inlet and outlet pipe 3, thereby adjusting the opening size of the discharge port 32 to control the discharge speed.

[0039] Optionally, the cross-sectional dimensions of the feed and discharge pipe 3 gradually decrease from the feed port 31 to the discharge port 32 .

[0040] In this embodiment, combined with the Figure 1 As shown, the inlet and outlet pipes 3 can be a tapered square pipe, wherein the cross-sectional size of the inlet and outlet pipes 3 gradually decreases from the feed port 31 to the discharge port 32 .

[0041] Optionally, the two conveyor belt assemblies 2 are arranged in an eight-shaped structure at the front end of the frame 1 in the moving direction, wherein the small opening end of the eight-shaped structure is arranged close to the feed port 31.

[0042] In this embodiment, combined with the Figure 1 and attached Figure 2 As shown, two conveyor belt assemblies 2 are symmetrically arranged on the frame 1, wherein the two conveyor belt assemblies 2 are arranged in an eight-shaped structure in front of the frame, wherein the small opening end of the eight-shaped structure is arranged close to the feed port 31. When the robot moves forward, due to the friction between the feed and the ground, the feed is collected from the larger opening in front of the two conveyor belt assemblies 2, and then the feed is transported from the feed port 31 of the feed and discharge pipe 3 to the feed and discharge pipe 3 through the two conveyor belt assemblies 2.

[0043] Optionally, the ranch pushing robot further includes a depth camera 6 , which is disposed at the front end of the frame 1 in the direction of travel.

[0044] Specifically, in conjunction with Figure 5 As shown, in a pasture, cow a usually lives in an area surrounded by multiple fences b, and the feeding area c of cow a is located outside the fences b. When cow a is eating, its head can extend from between any two adjacent fences b, thereby eating in the feeding area c. However, cow a often pushes the feed to a place where it cannot reach during the eating process, that is, the feed is pushed out of the feeding area c away from the fences b, and there may also be residual feed in the feeding area c after the cow leaves after eating.

[0045] In this embodiment, by Figure 1A depth camera 6 is provided (in the positive direction of the Y axis) to estimate the volume of feed within a set distance range in front, including the feed in the feeding area c and the feed pushed out of the feeding area c. After calculation, the opening of the valve 4 is controlled, and then the discharge speed is controlled to ensure that the total volume of feed in the rear is uniform. That is, the feed collected within the set distance range must be evenly discharged into the feeding area c within the set distance range. In this way, when the feeding area c is supplemented with feed later, it can be evenly distributed, and the phenomenon of some cows consuming too much and others not consuming enough will not occur.

[0046] Optionally, the walking mechanism includes four independent drive wheels arranged at the four corners of the bottom of the frame 1, each of the independent drive wheels includes a second motor and a wheel 7, the wheel 7 is rotatably connected to the frame 1, and the second motor is drivingly connected to the wheel 7.

[0047] In this embodiment, combined with the Figure 1 As shown, this robot uses four independent wheels, namely, independent drive wheels are provided at the four corners of the bottom of the frame 1. The second motor is connected to the wheels 7 via a drive shaft to achieve forward, backward and steering. Steering is achieved by the differential speed of the two side wheels, which can accurately control the robot's navigation in complex environments.

[0048] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0049] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A pasture pushing robot, characterized in that: include: Frame (1), walking mechanism, feeding mechanism and feeding and discharging pipes (3); The walking mechanism is arranged at the bottom of the frame (1) and is used to drive the frame (1) to move; The inlet and outlet pipes (3) are arranged on the frame (1), and the two ends of the inlet and outlet pipes (3) are respectively provided with an inlet (31) and an outlet (32), and the outlet (32) is provided with a valve (4) with an adjustable opening; The feeding mechanism comprises two conveyor belt assemblies (2) symmetrically arranged on the frame (1), the two conveyor belt assemblies (2) being arranged opposite to each other for collecting feed, the two conveyor belt assemblies (2) conveying the collected feed to the feed inlet and outlet pipes (3) through the feed inlet (31), and the feed in the feed inlet and outlet pipes (3) being discharged through the discharge port (32).

2. The ranch pushing robot according to claim 1, characterized in that: The feeding mechanism further comprises a driving assembly (5), wherein two driving assemblies (5) are arranged on the frame (1) at intervals, and the two driving assemblies (5) are respectively drivingly connected to the two conveyor belt assemblies (2).

3. The ranch pushing robot according to claim 2, characterized in that: The conveyor belt assembly (2) includes a horizontal rod (21), a vertical roller (22) and a conveyor belt (23), wherein the two horizontal rods (21) are spaced apart in the vertical direction and are respectively connected to the frame (1), the two vertical rollers (22) are spaced apart between the two horizontal rods (21), the conveyor belt (23) is respectively sleeved on the two vertical rollers (22), and the driving assembly (5) is drivingly connected to one of the vertical rollers (22).

4. The ranch pushing robot according to claim 3, characterized in that: The driving assembly (5) includes a driving pulley (51), a driven pulley (52), a belt (53) and a first motor (54), wherein the first motor (54) is arranged on the frame (1), the driving pulley (51) is arranged on the output shaft of the first motor (54), the driven pulley (52) is arranged on the vertical roller (22), and the driving pulley (51) and the driven pulley (52) are connected to each other through the belt (53).

5. The ranch pushing robot according to claim 1, characterized in that: The valve (4) comprises a baffle (41) and a telescopic rod (42), wherein the baffle (41) is hinged at the discharge port (32), a fixed end of the telescopic rod (42) is arranged on the frame (1), and a telescopic end of the telescopic rod (42) is connected to the baffle (41).

6. The ranch pushing robot according to claim 1, characterized in that: The cross-sectional dimensions of the feed and discharge pipe (3) gradually decrease from the feed port (31) to the discharge port (32).

7. The ranch pushing robot according to claim 1, characterized in that: The two conveyor belt assemblies (2) are arranged in an eight-shaped structure at the front end of the frame (1) in the direction of travel, wherein the small opening end of the eight-shaped structure is arranged close to the feed port (31).

8. The ranch pushing robot according to claim 1, characterized in that: It also includes a depth camera (6), which is arranged at the front end of the frame (1) in the direction of travel.

9. The ranch pushing robot according to claim 1, characterized in that: The walking mechanism comprises four independent driving wheels arranged at the four corners of the bottom of the frame (1).

10. The ranch pushing robot according to claim 9, characterized in that: The independent drive wheel comprises a second motor and a wheel (7), the wheel (7) is rotatably connected to the frame (1), and the second motor is drivingly connected to the wheel (7).

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