Feeding robot

Abstract

The invention provides a feeding and feeding robot, and relates to the technical field of breeding equipment, the feeding and feeding robot comprises a box body, the box body comprises a stirring cavity, a quantitative groove and a feeding channel, two ends of the quantitative groove are respectively provided with a feeding port and a discharging port which are not coaxially arranged, the feeding port is communicated with the bottom of the stirring cavity, and the discharging port is communicated with the feeding channel; the stirring mechanism comprises a spiral blade and a stirring motor, and the stirring motor is in driving connection with the spiral blade; the feeding mechanism comprises a quantitative material pushing piece and a feeding motor, the quantitative material pushing piece is rotationally connected into the quantitative groove, and the quantitative material pushing piece comprises two material pushing blocks which are connected with each other; and the walking mechanism is arranged at the bottom of the box body. Compared with the prior art, the feeding robot has the advantages that stirring and feeding are combined into a whole, compared with traditional sectional operation, the feeding robot is more convenient and faster, meanwhile, the automation degree is high, and the operation efficiency is improved.

Description

Technical Field

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

[0002] On modern ranches, the feeding of complete rations to livestock is primarily carried out manually through the operation of livestock machinery. Mixing and feeding feed are critical steps, and these processes are often performed in separate stages, making them relatively cumbersome. Existing feeding methods often rely on manual operation, which is both time-consuming and labor-intensive, and prone to feeding inaccuracies and low efficiency. Summary of the Invention

[0003] The problem to be solved by the present invention is: how to combine stirring and feeding into one body to improve feeding efficiency.

[0004] The present invention provides a feeding robot, comprising: The box body includes a stirring chamber, a quantitative tank and a feeding channel, wherein the stirring chamber is used to hold the feed to be mixed, and the two ends of the quantitative tank are respectively provided with a non-coaxial feed port and a discharge port, wherein the feed port is connected to the bottom of the stirring chamber, and the discharge port is connected to the feeding channel; A stirring mechanism, the stirring mechanism comprising a spiral blade and a stirring motor, the stirring motor being drivingly connected to the spiral blade, and the spiral blade being disposed in the stirring chamber; A feeding mechanism, the feeding mechanism comprising a quantitative pushing member and a feeding motor, the quantitative pushing member being rotatably connected to the quantitative trough, the feeding motor being drivingly connected to the quantitative pushing member, the quantitative pushing member comprising two mutually connected pushing blocks, the two pushing blocks being used to block or open the feed port and the discharge port during rotation; A walking mechanism is arranged at the bottom of the box body and is used to drive the box body to move.

[0005] The feeding robot provided by the present invention has, but is not limited to, the following beneficial effects compared to the prior art: The feeding robot described in the present invention is characterized in that the stirring chamber of the box body is used to hold the feed to be mixed, and the stirring motor of the stirring mechanism is started to drive the spiral blade to evenly stir the feed. During the stirring process, the two pushing blocks of the quantitative pushing piece are in a state of blocking the inlet and outlet of the quantitative trough. When the stirring is completed, the feeding motor is started, the quantitative pushing piece starts to rotate, and in the process of the quantitative pushing piece rotating in the quantitative trough, the two pushing blocks gradually open the inlet and outlet of the quantitative trough, so that the feed in the stirring chamber falls into the quantitative trough under the action of gravity, and the two pushing blocks are driven to rotate continuously in the quantitative trough by the feeding motor. The pushing blocks can push the feed to the outlet of the quantitative trough and side by side to the feeding channel, and the feed can be further fed into the animal eating area through the feeding channel. By adjusting the speed of the feeding motor, the feed will be gradually released each time the push block rotates to the discharge port, realizing the quantitative output of the feed. The faster the speed of the feeding motor, the greater the output of the feed. Conversely, the slower the speed, the relatively smaller the output of the feed. In this way, the feeding speed can be dynamically adjusted according to the actual needs of feeding to ensure accurate feeding. By setting a walking mechanism, the robot has the ability to move, which is convenient for it to move in the pasture. Compared with the existing technology, the feeding robot of the present invention combines stirring and feeding in one, which is more convenient than the traditional segmented operation. At the same time, the degree of automation is higher, which improves the working efficiency. Moreover, the nutrition of the feed immediately spread after stirring is more balanced and more adaptable.

[0006] Optionally, the feeding robot further includes a uniformity detection mechanism, which includes a camera and a bracket, the bracket being arranged on the box body, the camera being arranged on the bracket, and the camera being used to obtain images of the feed during the mixing process in real time.

[0007] Optionally, the uniformity detection mechanism further includes an upper computer and a lower computer, the lower computer and the camera are electrically connected to the upper computer respectively, and the lower computer is electrically connected to the stirring mechanism; The host computer is used to receive the image obtained from the camera and preprocess it. The host computer includes a color histogram analysis module. The color histogram analysis module is used to calculate the color histogram corresponding to each preprocessed image and determine whether the change difference between the current frame color histogram and the previous frame color histogram is less than a threshold. The lower computer is used to control the start and stop of the stirring mechanism according to the judgment result of the color histogram analysis module.

[0008] Optionally, the feeding robot further includes a hopper, a plurality of the hoppers are spaced apart on the box body, each of the hoppers is respectively provided with a discharge port connected to the stirring chamber, and a valve with an adjustable opening is correspondingly provided at each of the discharge ports.

[0009] Optionally, the stirring mechanism also includes a stirring shaft, which is arranged in a vertical direction and rotatably connected to the stirring chamber, the stirring motor is driven and connected to the stirring shaft, the spiral blade is connected to the stirring shaft, and the cross-sectional size of the spiral blade gradually increases from top to bottom in the vertical direction.

[0010] Optionally, one end of the feeding channel passes through the side wall of the box body and is in communication with the external environment, and the bottom wall of the feeding channel is located below the discharge port and is configured as a downwardly inclined slope.

[0011] Optionally, the feeding robot also includes a dual-purpose pushing and cleaning device, which is arranged at one end of the box in the moving direction. The dual-purpose pushing and cleaning device includes a connecting frame, a first pushing arm, a second pushing arm, a pin shaft and a telescopic cylinder. One end of the connecting frame is connected to the box, and the other end is connected to the first pushing arm. The two second pushing arms are respectively hinged to the two ends of the first pushing arm. Two pin shafts are symmetrically arranged on the first pushing arm. The fixed ends of the two telescopic cylinders are respectively hinged to the two pin shafts, and the telescopic ends of the two telescopic cylinders are respectively hinged to the two second pushing arms.

[0012] Optionally, the walking mechanism includes four independent drive wheels arranged at the four corners of the bottom of the box, each of the independent drive wheels includes a drive motor, a wheel and a fixed frame, the fixed frame is connected to the bottom of the box, the wheel is rotatably connected to the fixed frame, and the drive motor is drive-connected to the wheel.

[0013] Optionally, the quantitative pushing member further includes an intermediate shaft, the intermediate shaft is rotatably connected to the quantitative trough, the feeding motor is drivingly connected to the intermediate shaft, and the two pushing blocks are symmetrically connected to the intermediate shaft.

[0014] Optionally, the inner wall of the stirring chamber is provided with an anti-adhesion coating. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The feeding robot of the embodiment of the present invention is a three-dimensional Figure 1 ; Figure 2 A top view of a feeding robot according to an embodiment of the present invention; Figure 3 The feeding robot of the embodiment of the present invention is a three-dimensional Figure 2 ; Figure 4 for Figure 3 A partial enlarged view of the middle A; Figure 5 The structure of the quantitative tank of the embodiment of the present invention is shown as follows Figure 1 ; Figure 6 The structure of the quantitative tank of the embodiment of the present invention is shown as follows Figure 2 ; Figure 7 This is a schematic structural diagram of a quantitative pushing member according to an embodiment of the present invention; Figure 8 This is a schematic structural diagram of a dual-purpose material pushing and cleaning device according to an embodiment of the present invention; Figure 9 Schematic diagram of the structure of the independent drive wheel according to an embodiment of the present invention.

[0016] Description of reference numerals: 1. Box body; 11. Stirring chamber; 12. Dosing tank; 121. Feed inlet; 122. Discharge port; 13. Feeding channel; 131. Inclined surface; 2. Stirring mechanism; 21. Spiral blade; 22. Stirring shaft; 3. Dosing pusher; 31. Pusher block; 32. Intermediate shaft; 4. Feeding motor; 51. Camera; 52. Bracket; 6. Hopper; 61. Valve; 7. Pusher and cleaning device; 71. Connecting frame; 72. First pusher arm; 73. Second pusher arm; 74. Pin; 75. Telescopic cylinder; 8. Independent drive wheel; 81. Drive motor; 82. Wheel; 83. Fixed frame. DETAILED DESCRIPTION

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] like Figures 1 to 7 As shown, the feeding robot according to the embodiment of the present invention includes: The box body 1 includes a stirring chamber 11, a quantitative groove 12 and a feeding channel 13. The stirring chamber 11 is used to hold the feed to be mixed. The two ends of the quantitative groove 12 are respectively provided with a non-coaxial feed port 121 and a discharge port 122, wherein the feed port 121 is connected to the bottom of the stirring chamber 11, and the discharge port 122 is connected to the feeding channel 13; A stirring mechanism 2, the stirring mechanism 2 comprising a spiral blade 21 and a stirring motor, the stirring motor being drivingly connected to the spiral blade 21, and the spiral blade 21 being disposed in the stirring chamber 11; The feeding mechanism includes a quantitative pushing member 3 and a feeding motor 4. The quantitative pushing member 3 is rotatably connected to the quantitative groove 12. The feeding motor 4 is driven by the quantitative pushing member 3. The quantitative pushing member 3 includes two mutually connected pushing blocks 31. The two pushing blocks 31 are used to block or open the feed port 121 and the discharge port 122 during rotation. A walking mechanism is provided at the bottom of the box body 1 and is used for driving the box body 1 to move.

[0024] In this embodiment, combined with the Figures 1 to 7 As shown, the mixing chamber 11 of the box body 1 is used to hold the feed to be mixed. By starting the mixing motor of the mixing mechanism 2, the spiral blade 21 can be driven to mix the feed evenly. During the mixing process, the two pushing blocks 31 of the quantitative pushing member 3 are in a state of blocking the inlet 121 and the outlet 122 of the quantitative groove 12. When the mixing is completed, the feeding motor 4 is started, the quantitative pushing member 3 starts to rotate, and during the rotation of the quantitative pushing member 3 in the quantitative groove 12, the two pushing blocks 31 gradually open the inlet 121 and the outlet 122 of the quantitative groove 12, so that the feed in the mixing chamber 11 falls into the quantitative groove 12 under the action of gravity. The two pushing blocks 31 are driven to rotate continuously in the quantitative groove 12 by the feeding motor 4, and the pushing blocks 31 can push the feed to the outlet 122 of the quantitative groove 12 and side by side to the feeding channel 13, and the feed can be further fed into the animal feeding area through the feeding channel 13. By adjusting the speed of the feeding motor 4, the feed will be gradually released each time the pushing block 31 rotates to the discharge port 122, realizing the quantitative output of the feed. The faster the speed of the feeding motor 4, the greater the output of the feed. Conversely, the slower the speed, the relatively reduced output of the feed. In this way, the feeding speed can be dynamically adjusted according to the actual needs of feeding to ensure accurate feeding. By setting a walking mechanism, the robot has the ability to move, which is convenient for it to move in the pasture. Compared with the existing technology, the feeding robot of the present invention combines stirring and feeding in one, which is more convenient than the traditional segmented operation. At the same time, the degree of automation is higher, which improves the working efficiency. Moreover, the nutrition of the feed immediately spread after stirring is more balanced and more adaptable.

[0025] It should be noted that the box body 1 is a bucket-shaped structure with an open top, which facilitates the addition of various feeds into the stirring chamber 11 of the box body 1, wherein the inner wall of the stirring chamber 11 includes a cylindrical wall and a conical wall from top to bottom, wherein the diameter of the conical wall gradually decreases from top to bottom.

[0026] Optionally, the feeding robot further includes a uniformity detection mechanism, which includes a camera 51 and a bracket 52. The bracket 52 is arranged on the box body 1, and the camera 51 is arranged on the bracket 52. The camera 51 is used to obtain images of the feed during the mixing process in real time.

[0027] In this embodiment, combined with the Figure 1 and attached Figure 2 As shown, the bracket 52 has an X-shaped structure, which can be connected to the upper part of the box body 1 by bolts (the bracket 52 can also be installed on the hopper 6 described later), and the camera 51 is installed in the middle position of the bracket 52, wherein the camera 51 is used to obtain images of the feed during the mixing process in real time, so as to judge the uniformity of the feed mixing.

[0028] Optionally, the uniformity detection mechanism further includes a host computer and a slave computer, the slave computer and the camera 51 are electrically connected to the host computer respectively, and the slave computer is electrically connected to the stirring mechanism 2; The host computer is used to receive the image obtained from the camera 51 and pre-process it. The host computer includes a color histogram analysis module, which is used to calculate the color histogram corresponding to each pre-processed image and determine whether the change difference between the current frame color histogram and the previous frame color histogram is less than a threshold value. The lower computer is used to control the start and stop of the stirring mechanism 2 according to the judgment result of the color histogram analysis module.

[0029] In this embodiment, the host computer can be an industrial computer, and the slave computer can be a single-chip microcomputer. The image captured by camera 51 can be sent to the host computer. The host computer first preprocesses the image, which can be denoising and color space conversion. Then, the color histogram analysis module calculates the color histogram of the current frame, calculates the change between the histogram and the previous frame, and determines whether the histogram difference is less than a threshold. If the judgment is yes, it indicates that the feed is mixed evenly, and the slave computer controls the stirring mechanism 2 to stop working. If the judgment is no, it indicates that the feed is mixed unevenly, and the stirring mechanism 2 continues stirring, and the camera 51 continues to capture images and repeat the above process. The stirring process of this solution can automatically adjust the stirring time according to the uniformity detection result, avoiding excessive stirring, thereby reducing energy consumption and lowering operating costs.

[0030] Optionally, the feeding robot further includes a hopper 6, a plurality of the hoppers 6 are spaced apart on the box body 1, each of the hoppers 6 is respectively provided with a discharge port connected to the stirring chamber 11, and a valve 61 with adjustable opening is correspondingly provided at each of the discharge ports.

[0031] In this embodiment, combined with the Figure 1 As shown, a plurality of hoppers 6 are provided on the box body 1. Figure 1 There are 4 hoppers 6 on the left and right sides of the box body 1 (attached Figure 1 Two hoppers 6 are respectively provided (in the middle X-axis direction), and the discharge port of each hopper 6 is connected to the stirring chamber 11 respectively, and a valve 61 with adjustable opening is correspondingly provided at each discharge port. The multiple hoppers 6 are used to add a variety of feeds into the stirring chamber 11. By controlling the opening of each valve 61, the discharge amount of feed in different hoppers 6 can be accurately adjusted, thereby realizing the control of the feed mixing ratio and ensuring that the composition of each batch of feed meets the specified formula requirements.

[0032] Optionally, the stirring mechanism 2 also includes a stirring shaft 22, which is arranged in a vertical direction and rotatably connected to the stirring chamber 11, the stirring motor is driven and connected to the stirring shaft 22, the spiral blade 21 is connected to the stirring shaft 22, and the cross-sectional size of the spiral blade 21 gradually increases from top to bottom in the vertical direction.

[0033] In this embodiment, combined with the Figure 1 and attached Figure 2 As shown, the stirring shaft 22 is arranged in the vertical direction (attached Figure 1 The stirring mechanism 2 is rotatably connected to the stirring shaft 22 (in the Z-axis direction) within the stirring chamber 11. The spiral blade 21 is helically connected to the stirring shaft 22, and the cross-sectional dimension of the spiral blade 21 gradually increases from top to bottom in the vertical direction. The stirring motor is mounted on the housing 1 and is drivingly connected to the stirring shaft 22. The stirring mechanism 2 drives the stirring shaft 22 to rotate via the stirring motor, driving the spiral blade 21 to evenly stir the feed. The spiral blade 21 is used to cause the feed to mix vertically and horizontally within the stirring chamber 11, thereby improving mixing uniformity.

[0034] Optionally, one end of the feeding channel 13 passes through the side wall of the box body 1 and communicates with the external environment. The bottom wall of the feeding channel 13 is located below the discharge port 122 and is configured as a downwardly inclined slope 131 .

[0035] In this embodiment, combined with the Figure 1 Attachment Figure 3 and attached Figure 4 As shown, the feeding channel 13 is opened at the lower part of the box body 1, and one end of the feeding channel 13 is connected to the discharge port 122 of the quantitative trough 12, and the other end is connected to the outside of the box body 1. The feeding channel 13 is used to feed the feed into the animal feeding area, wherein the bottom wall of the feeding channel 13 for contacting the feed has a downward inclined surface 131, and the inclined surface 131 can make the feed smoothly discharged from the feeding channel 13, playing a guiding role.

[0036] Optionally, the feeding robot also includes a dual-purpose pushing and cleaning device 7, which is arranged at one end of the moving direction of the box body 1, and includes a connecting frame 71, a first pushing arm 72, a second pushing arm 73, a pin shaft 74 and a telescopic cylinder 75. One end of the connecting frame 71 is connected to the box body 1, and the other end is connected to the first pushing arm 72. The two second pushing arms 73 are respectively hinged to the two ends of the first pushing arm 72. Two pin shafts 74 are symmetrically arranged on the first pushing arm 72. The fixed ends of the two telescopic cylinders 75 are respectively hinged to the two pin shafts 74, and the telescopic ends of the two telescopic cylinders 75 are respectively hinged to the two second pushing arms 73.

[0037] In this embodiment, combined with the Figure 1 and attached Figure 8 As shown, at the front end of the box 1 (attached Figure 1 A dual-purpose pushing and cleaning device 7 is provided (in the positive direction of the middle Y axis), wherein one end of the connecting frame 71 can be connected to the box body 1 by bolts, and the other end can be connected to the middle part of the first pushing arm 72 by bolts, and the two second pushing arms 73 are hinged to the two ends of the first pushing arm 72 respectively. During the movement of the robot, the dual-purpose pushing and cleaning device 7 can adjust the deflection angle of the second pushing arm 73 relative to the first pushing arm 72 by the telescopic cylinder 75, and perform different operations according to the task requirements. When the robot needs to push the mixed feed to the animal feeding area, the telescopic cylinder 75 is used to adjust the second pushing arm 73 to the rear (attached Figure 1 During the cleaning process, the second pushing arm 73 is deflected forward (in the opposite direction of the Y axis) by adjusting the telescopic cylinder 75. Figure 1 ), clean up the feed and debris left on the ground to keep the environment clean.

[0038] Optionally, the walking mechanism includes four independent drive wheels 8 arranged at the four corners of the bottom of the box body 1, each of the independent drive wheels 8 includes a drive motor 81, a wheel 82 and a fixed frame 83, the fixed frame 83 is connected to the bottom of the box body 1, the wheel 82 is rotatably connected to the fixed frame 83, and the drive motor 81 is drive-connected to the wheel 82.

[0039] In this embodiment, combined with the Figure 1 and attached Figure 9 As shown, the robot uses four independent wheels. Independent drive wheels 8 are located at the four corners of the bottom of the housing 1. Drive motors 81 are connected to wheels 82 via drive shafts, enabling forward, backward, and steering. Steering is achieved through differential speed between the two wheels, enabling precise control of the robot's movement in complex environments.

[0040] Optionally, the quantitative pushing member 3 further includes an intermediate shaft 32 , which is rotatably connected to the quantitative groove 12 , the feeding motor 4 is drivingly connected to the intermediate shaft 32 , and the two pushing blocks 31 are symmetrically connected to the intermediate shaft 32 .

[0041] In this embodiment, combined with the Figure 7 As shown, the intermediate shaft 32 is arranged in the vertical direction (attached Figure 1 The feeding motor 4 is connected to the intermediate shaft 32 through the output shaft and is connected to the quantitative groove 12. Figure 5 and attached Figure 6As shown, the metering groove 12 can be a cylindrical structure with openings at both ends and a hollow center. The pusher block 31 is a fan-shaped block structure. The two pusher blocks 31 are symmetrically connected to the intermediate shaft 32, and the arc-shaped surfaces of the pusher blocks 31 face the inner wall of the metering groove 12. The shapes of the pusher blocks 31 and the metering groove 12 determine that a certain amount of feed can be accommodated each rotation. This design enables the quantitative pusher 3 to accurately control the amount of feed released each time.

[0042] Optionally, the inner wall of the stirring chamber 11 is provided with an anti-adhesion coating.

[0043] In this embodiment, the inner wall of the stirring chamber 11 of the box body 1 is provided with an anti-adhesion coating, which effectively prevents the feed from adhering to the box body 1 during the stirring process, reduces residues, and facilitates cleaning.

[0044] 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.

[0045] 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 feeding robot, characterized in that: include: A box body (1), the box body (1) comprising a stirring chamber (11), a quantitative groove (12) and a feeding channel (13), the stirring chamber (11) being used to hold feed to be mixed, the quantitative groove (12) having two ends respectively provided with a non-coaxially arranged feed inlet (121) and a discharge port (122), wherein the feed inlet (121) is communicated with the bottom of the stirring chamber (11), and the discharge port (122) is communicated with the feeding channel (13); A stirring mechanism (2), the stirring mechanism (2) comprising a spiral blade (21) and a stirring motor, the stirring motor being drivingly connected to the spiral blade (21), and the spiral blade (21) being arranged in the stirring chamber (11); A feeding mechanism, the feeding mechanism comprising a quantitative pushing member (3) and a feeding motor (4), the quantitative pushing member (3) being rotatably connected to the quantitative groove (12), the feeding motor (4) being drivingly connected to the quantitative pushing member (3), the quantitative pushing member (3) comprising two mutually connected pushing blocks (31), the two pushing blocks (31) being used to block or open the feed port (121) and the discharge port (122) during the rotation process; A walking mechanism is arranged at the bottom of the box (1) and is used to drive the box (1) to move.

2. The feeding robot according to claim 1, characterized in that: It also includes a uniformity detection mechanism, the uniformity detection mechanism including a camera (51) and a bracket (52), the bracket (52) being arranged on the box body (1), the camera (51) being arranged on the bracket (52), and the camera (51) being used to obtain images of the feed in real time during the mixing process.

3. The feeding robot according to claim 2, characterized in that: The uniformity detection mechanism further comprises an upper computer and a lower computer, wherein the lower computer and the camera (51) are electrically connected to the upper computer respectively, and the lower computer is electrically connected to the stirring mechanism (2); The upper computer is used to receive images acquired from the camera (51) and pre-process them. The upper computer includes a color histogram analysis module. The color histogram analysis module is used to calculate the color histogram corresponding to each pre-processed image and determine whether the difference between the color histogram of the current frame and the color histogram of the previous frame is less than a threshold value. The lower computer is used to control the start and stop of the stirring mechanism (2) according to the determination result of the color histogram analysis module.

4. The feeding robot according to claim 1, characterized in that: It also includes a hopper (6), wherein a plurality of the hoppers (6) are arranged at intervals on the box body (1), each of the hoppers (6) is provided with a discharge port communicating with the stirring chamber (11), and a valve (61) with an adjustable opening is correspondingly provided at each of the discharge ports.

5. The feeding robot according to claim 1, characterized in that: The stirring mechanism (2) further comprises a stirring shaft (22), the stirring shaft (22) being arranged in a vertical direction and rotatably connected in the stirring chamber (11), the stirring motor being drive-connected to the stirring shaft (22), the spiral blade (21) being connected to the stirring shaft (22), and the cross-sectional size of the spiral blade (21) gradually increasing from top to bottom in the vertical direction.

6. The feeding robot according to claim 1, characterized in that: One end of the feeding channel (13) passes through the side wall of the box body (1) and is in communication with the external environment. The bottom wall of the feeding channel (13) is located below the discharge port (122) and is configured as a downwardly inclined slope (131).

7. The feeding robot according to claim 1, characterized in that: The invention also includes a dual-purpose device for pushing and cleaning (7), which is arranged at one end of the box body (1) in the moving direction. The dual-purpose device for pushing and cleaning (7) includes a connecting frame (71), a first pushing arm (72), a second pushing arm (73), a pin (74) and a telescopic cylinder (75). One end of the connecting frame (71) is connected to the box body (1), and the other end is connected to the first pushing arm (72). The two second pushing arms (73) are respectively hinged to the two ends of the first pushing arm (72). Two pins (74) are symmetrically arranged on the first pushing arm (72). The fixed ends of the two telescopic cylinders (75) are respectively hinged to the two pins (74), and the telescopic ends of the two telescopic cylinders (75) are respectively hinged to the two second pushing arms (73).

8. The feeding robot according to claim 1, characterized in that: The walking mechanism comprises four independent driving wheels (8) arranged at the four corners of the bottom of the box (1), each of the independent driving wheels (8) comprises a driving motor (81), a wheel (82) and a fixing frame (83), the fixing frame (83) is connected to the bottom of the box (1), the wheel (82) is rotatably connected to the fixing frame (83), and the driving motor (81) is drivingly connected to the wheel (82).

9. The feeding robot according to claim 1, characterized in that: The quantitative pushing member (3) further comprises an intermediate shaft (32), the intermediate shaft (32) being rotatably connected to the quantitative groove (12), the feeding motor (4) being drivingly connected to the intermediate shaft (32), and the two pushing blocks (31) being symmetrically connected to the intermediate shaft (32).

10. The feeding robot according to claim 1, characterized in that: The inner wall of the stirring chamber (11) is provided with an anti-adhesion coating.

Images