Double-auger mixing and feeding robot

Abstract

The utility model belongs to the technical field of feeding equipment, and relates to a double-auger material mixing and feeding robot which comprises a driving rack for automatic driving and a first material pushing assembly. The first material pushing assembly comprises a driving mechanism, a rotating roller, a splash-proof barrel and two auger blades, the splash-proof barrel is transversely fixed to the front end of the running rack, a feeding opening is formed in the side wall, facing the ground, of the splash-proof barrel, the rotating roller transversely penetrates through the splash-proof barrel, and one end of the rotating roller is in transmission connection with the driving mechanism; auger mounting frames are arranged on the surface of the rotating roller in the axial direction at intervals, and the two auger blades are the same in rotating direction, spirally extend in the axial direction of the rotating roller in a staggered mode and are fixedly connected with the auger mounting frames correspondingly. In the process that the traveling machine frame moves according to the feed laying route, the driving mechanism drives the rotating roller to rotate, the two auger blades push the feed to one side while stirring and uniformly mixing the feed, the nutrition balance and palatability of the uniformly mixed feed are improved, and the health condition and the production performance of livestock are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of feeding equipment, and specifically relates to a double-auger mixing feeding robot. Background Art

[0002] Before feeding cows, dairy farms need to thoroughly mix prepared ingredients such as grass, bran, and vegetables to prevent nutrient deficiencies due to picky eating. The basic configuration of a dairy farm consists of barns located on either side of a feeding alley. The fences run along the feed alley, allowing cows to reach the feed by sticking their heads out of the fence.

[0003] Due to the limitations of the above-mentioned facility configuration, there are currently two feeding methods. The first is that the feeding personnel need to pre-mix the various ingredients of the feed and then spread them directly on the side of the feeding path close to the cowshed fence. Although this method can improve the uniformity of feed mixing through manual stirring, the efficiency of manual spreading is too low and it consumes labor; the second is to pre-stack different formulas of grass, bran, etc. in the feed in sequence in the middle of the feeding path, and then use a pushing robot disclosed in the Chinese utility model with the announcement number CN220108879U to push the feed to the edge of the cowshed fence. This can improve feeding efficiency. The pushing robot includes a frame for moving and a pushing assembly. The pushing assembly includes a first rotating cylinder and blades spirally arranged in the first rotating cylinder. The first groove formed between the blades and the first rotating cylinder can play a pushing role during the rotation process. However, although the pushing component of the above-mentioned pushing robot can play the role of pushing feed, due to the large gaps between the blades, the feed is difficult to be lifted off the ground for sufficient mixing and stirring during the pushing process, resulting in the feed being not nutritionally balanced and having low palatability, which can easily cause some cows to be picky eaters or reduce their food intake, which is not conducive to ensuring the health status and production performance of livestock; and because a single auger is used to push the feed, it is easy to cause feed accumulation, resulting in uneven force on the auger, which increases the failure rate of the equipment. Summary of the Invention

[0004] Based on the above-mentioned background technical needs, the present application provides a double-auger mixing and feeding robot, which is used to solve the problem in the prior art that the feed is difficult to be lifted off the ground for sufficient mixing and stirring during the pushing process, resulting in low nutritional balance and low palatability of the feed, which can easily cause some cows to be picky eaters or reduce their food intake, which is not conducive to ensuring the health status and production performance of livestock; and because a single auger is used to push the feed, it is easy to cause feed accumulation, resulting in uneven force on the auger, which increases the failure rate of the equipment.

[0005] To achieve the above objectives, the technical solution of this application is:

[0006] A double-auger mixing feeding robot comprises a traveling frame and a first pushing assembly, wherein the traveling frame is used for automatic traveling; the first pushing assembly comprises a driving mechanism, a roller, a splash shield and two auger blades, the splash shield is transversely fixed to the front end of the traveling frame, and a feed port is provided on the side wall of the splash shield facing the ground, the roller penetrates the splash shield axially along the splash shield and one end is connected to the driving mechanism for transmission, and the driving mechanism is used to drive the roller to rotate; inside the splash shield, auger mounting frames are arranged at intervals along the axial direction on the surface of the roller, and the two auger blades have the same rotation direction and extend in an staggered spiral around the axial direction of the roller and are respectively fixedly connected to the auger mounting frames.

[0007] Preferably, a plurality of shifting pieces are provided at intervals on the surface of the auger blade along the direction of spiral extension.

[0008] Preferably, a material guiding shovel is provided on the side of the feed port adjacent to the ground.

[0009] Preferably, the double-auger mixing feeding robot also includes a second pushing assembly, which includes an angle adjustment mechanism and a pushing plate. The angle adjustment mechanism is arranged at the bottom of the traveling frame. Along the forward direction of the traveling frame, the pushing plate is located on the rear side of the splash shield and is transmission-connected to the angle adjustment mechanism. The angle adjustment mechanism is used to drive the pushing plate to tilt toward the pushing direction of the auger blade, so that the pushing direction of the pushing plate is the same as the pushing direction of the auger blade.

[0010] Preferably, along the axial direction of the splash-proof tube, the length of the pusher plate is greater than the length of the splash-proof tube, and both ends of the pusher plate protrude from the two bottom surfaces of the splash-proof tube.

[0011] Preferably, a cleaning assembly is provided at the bottom of the traveling frame away from the first pushing assembly, and the cleaning assembly includes a driving motor and a pair of cleaning brush turntables. The pair of cleaning brush turntables are rotatably provided on the left and right sides of the bottom of the traveling frame and are transmission-connected to the driving motor; bristles are provided on the bottom surface of the cleaning brush turntable, and the driving motor is used to drive the pair of cleaning brush turntables to rotate synchronously.

[0012] Preferably, along the forward direction of the traveling frame, a pair of cleaning brush turntables are staggered front and back.

[0013] Preferably, the traveling frame includes a traveling mechanism, a guide controller and a laser radar. The guide controller is electrically connected to the traveling mechanism and the laser radar. The laser radar is used to obtain environmental information to correct the navigation route. The guide controller is used to control the traveling mechanism to move along the navigation route based on the navigation route.

[0014] By adopting the above technical solution, compared with the existing technology, this application has at least the following beneficial effects:

[0015] 1. Compared with the pushing structure of the prior art, the double auger blade structure of the present application not only improves the efficiency of pushing feed, but also increases the pushing area, so that more feed can contact the auger blades and be pushed, reducing the probability of feed being left in the middle of the feeding channel. At the same time, the splash guard can prevent feed from being thrown to areas outside the pushing range of the auger blades, so that more feed can be pushed to the edge of the feeding channel to reduce feed waste.

[0016] Second, the staggered auger blades have a narrower spiral pitch, which increases the density of the feed and helps the feed to roll and curl along the splash-proof barrel during the propulsion process, making the feed more evenly mixed, reducing the probability of cows being picky eaters, improving the nutritional uniformity and palatability of the ingested feed, and helping to improve the health and production performance of livestock.

[0017] 3. Compared with the single auger pushing structure of the prior art, the double auger blade structure of the present application increases the pushing frequency, solves the problem of uneven force on the auger blades caused by material piling, thereby reducing the damage rate of the auger blades and the equipment failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an axonometric view of the double-auger mixing and feeding robot in the embodiment.

[0019] Figure 2 2. It is a side view of the double-auger mixing and feeding robot in the embodiment.

[0020] Figure 3 1. It is a top view of the double-auger mixing and feeding robot in the embodiment.

[0021] Figure 4 Schematic diagram of the local structure of the auger blade in the embodiment.

[0022] In the figure: traveling frame 10, walking mechanism 11, frame 12, guide controller 13, laser radar 14, first pushing assembly 20, driving mechanism 21, roller 22, auger mounting frame 221, splash shield 23, feed port 231, guide shovel plate 232, auger blade 24, prying piece 241, second pushing assembly 30, angle adjustment mechanism 31, pushing plate 32, cleaning assembly 40, driving motor 41, cleaning brush turntable 42, rotating shaft 421, transmission wheel 43, transmission belt 44. DETAILED DESCRIPTION

[0023] It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of this application can be combined with each other. The following will further describe the technical solution of this application in conjunction with the drawings of the embodiments of this application, and this application is not limited to the following specific implementation methods.

[0024] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of this application, it should be understood that if there are terms such as "upper", "lower", "inner", "outer", "left", "right", "front", "back", "top", "bottom" and the like indicating directions or positional relationships, they are based on the orientations or positional relationships shown in the drawings. This is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the structure or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0025] The following is combined with Figure 1 To the attached Figure 4 The present application is further described in detail with reference to specific embodiments.

[0026] The present application discloses a double-auger mixing feeding robot, comprising a traveling frame 10 for automatic travel and a first pushing assembly 20, wherein the traveling frame 10 is a movable robot that can automatically travel along a specific route, and is used to push the first pushing assembly 20 to travel along the stacking route of the dairy farm feeding path or move to the charging area for charging. The principle of its automatic travel is a mature existing technology, which is not the focus of this case and will not be described in detail; the first pushing assembly 20 includes a driving mechanism 21, a roller 22, a splash-proof cylinder 23 and two auger blades 24, wherein the splash-proof cylinder 23 is a barrel-shaped structure with a cylindrical space, and the splash-proof cylinder 23 is transversely fixed to the front end of the traveling frame 10 by welding or fixing with a connector, and the left and right bottom surfaces of the splash-proof cylinder 23 are provided with assembly holes, and the side wall of the splash-proof cylinder 23 is close to the ground with a feed port 231, The feed port 231 can basically be close to the length of the splash-proof cylinder 23 along the horizontal extension direction. The above-mentioned roller 22 passes through the through hole on the bottom surface of the splash-proof cylinder 23 and rotates with the two bottom surfaces of the splash-proof cylinder 23 through bearings. The end of the roller 22 located on the outside of the splash-proof cylinder 23 is rotatably matched with the above-mentioned transmission mechanism, so that the transmission mechanism can drive the roller 22 to rotate; within the internal space of the splash-proof cylinder 23, the surface of the roller 22 is provided with a plurality of auger mounting frames 221 at intervals along its axial direction. In one embodiment, three auger mounting frames 221 are evenly distributed at the left, middle and right ends of the roller 22, and the above-mentioned two auger blades 24 extend spirally around the axial direction of the roller 22 in an interlaced manner with the same rotation direction, and are respectively fixedly connected to the auger mounting frames 221 by welding, riveting or other connection methods, and a part of the auger blades 24 can be exposed from the above-mentioned feed port 231 and close to the ground.

[0027] Specifically, in a preferred embodiment, the above-mentioned driving mechanism 21 includes a motor and a transmission reduction box. The motor housing is fixed to the front end of the traveling frame 10, and a driving wheel and a driven wheel are arranged in the transmission reduction box. The driving wheel and the driven wheel are gears or pulleys and their wheel diameters are set according to the set reduction ratio, and the synchronous transmission angle or other factors affecting the transmission ratio are satisfied. The driving wheel and the driven wheel are connected by a chain or a transmission belt, and the driving wheel is sleeved on the drive shaft of the motor. The driven wheel is coaxially connected to one end of the above-mentioned roller 22. Through the above-mentioned structural design, the driving mechanism 21 can drive the auger blade 24 to rotate spirally in the set pushing direction.

[0028] When using the above-mentioned double-auger mixing feeding robot, the traveling frame 10 automatically moves the front first pushing assembly 20 along the feed pile on the feeding path according to the set route, and at the same time, the driving mechanism 21 drives the roller 22 to rotate, so that the auger blades 24 roll in the feed pile; during the advancement of the traveling frame 10, the feed is pushed toward one side of the cowshed fence by the rotating spiral auger. Since the two staggered auger blades 24 have a narrower spiral pitch than the single auger, not only the pushing area is increased, so that more feed can contact and be pushed by the auger blades 24, but the narrower spiral pitch has a more obvious squeezing effect on the feed, increasing the density of the feed, so that the feed entering the feed port 231 will not easily fall back to the ground, but will continue to roll and curl along the inner wall of the splash guard 23 during the advancement process, so that the various ingredients of the feed are mixed and mixed to a uniform state until they are pushed out from one side of the splash guard 23 by the auger blades 24.

[0029] The use of the above-mentioned high-precision paddy field grader can achieve at least the following technical effects:

[0030] 1. Compared with the pushing structure of the prior art, the structure of the double auger blades 24 of the present application not only improves the efficiency of pushing feed, but also increases the pushing area, so that more feed can contact the auger blades 24 and be pushed, reducing the probability of feed being left in the middle of the feeding channel. At the same time, the splash guard 23 can prevent the feed from being scattered to the area outside the pushing range of the auger blades 24, so that more feed can be pushed to the edge of the feeding channel to reduce feed waste.

[0031] Second, the staggered auger blades 24 have a narrower spiral pitch, which increases the density of the feed and helps the feed to roll and curl along the splash-proof cylinder 23 during the propulsion process, making the feed more evenly mixed, reducing the probability of cows being picky eaters, improving the nutritional uniformity of the feed, increasing the palatability of the feed, and helping to improve the health and production performance of livestock.

[0032] 3. Compared with the single auger pushing structure of the prior art, the double auger blade 24 structure of the present application increases the pushing frequency, solves the problem of uneven force on the auger blade 24 caused by material piling, thereby reducing the damage rate of the auger blade 24 and the equipment failure rate.

[0033] In addition, this application also provides some more specific implementation methods to improve the above-mentioned double-auger mixing and feeding robot.

[0034] Furthermore, to improve the mixing efficiency and homogenization of the feed, a plurality of shifting pieces 241 are provided on the surface of the auger blade 24 by means of welding, riveting, or other fixing methods. The shifting pieces 241 are arranged in an array at intervals along the spiral extension direction of the auger blade 24. Specifically, the shifting pieces 241 are in the form of regular or irregular shapes such as rectangles or triangles, or other structures capable of forming protrusions on the surface of the auger blade 24.

[0035] When using the above-mentioned double-auger mixing feeding robot, the auger blade 24 provided with the prying piece 241 can further enhance the stirring effect of the feed during the rolling pushing process, and can improve the stirring efficiency of the feed and increase the mixing degree without significantly affecting the pushing efficiency.

[0036] Furthermore, in order to prevent the material at the bottom of the first pushing assembly 20 from being difficult to be lifted up by the auger blades 24 and involved in stirring during the pushing process, a material guide shovel 232 is provided on the side of the feed port 231 adjacent to the ground. The cross-section of the material guide shovel 232 is wedge-shaped, and its length can at least cover the length of the feed port 231, and its convergent end extends forward along the pushing direction of the traveling frame 10.

[0037] When the double-auger mixing feeding robot moves forward, the bottom surface of the guide shovel plate 232 is close to the ground and scoops up the feed. Under the action of inertia, the feed enters the feed inlet 231 along the guide shovel plate 232, and is then fully stirred by the auger blades 24 and pushed to one side of the feeding channel, which can further improve the mixing uniformity of the feed and the pushing efficiency.

[0038] Furthermore, in order to prevent a small amount of feed passing through the bottom of the auger blade 24 from being left on the feeding path, the above-mentioned double-auger mixed feeding robot also includes a second pushing assembly 30, and the second pushing assembly 30 includes an angle adjustment mechanism 31 and a pushing plate 32. The angle adjustment mechanism 31 is arranged at the bottom of the traveling frame 10. Along the forward direction of the traveling frame 10, the pushing plate 32 is located behind the splash shield 23 and is transmission-connected to the angle adjustment mechanism 31. The angle adjustment mechanism 31 is used to drive the pushing plate 32 to tilt at different inclination angles in the pushing direction of the auger blade 24 in real time according to the dispersion of the missed feed, so that the missed feed is pushed to the edge of the feeding path in time by the pushing plate 32.

[0039] Specifically, in a preferred embodiment, the angle adjustment mechanism 31 includes a pair of telescopic push rods arranged parallel to the bottom of the traveling frame 10 and located behind the splash shield 23. The two telescopic push rods are electric telescopic cylinder structures or cylinder structures controlled by an air source, and their telescopic ends are laterally hinged to the back of the push plate 32. Under normal circumstances, the telescopic push rod on the side of the discharge end of the auger blade 24 is shorter than the initial length of the other telescopic push rod, so that the front of the push plate 32 (the side that receives the feed) has an angle of inclination toward the discharge end of the auger blade 24 from the beginning. When feed is missed in front of the front of the push plate 32, the lengths of the two telescopic push rods are controlled according to the amount of feed. In a certain scenario, if a lot of feed is missed on the side away from the discharge end of the auger blade 24, in order to improve the pushing efficiency and enable this part of the feed to be quickly pushed to the area corresponding to the level of the missed location, the two telescopic push rods are further controlled to extend or shorten in different directions respectively, so that the inclination angle of the push plate 32 is increased, thereby increasing the pushing speed, reducing the amount of feed pushed forward, and allowing the feed to be quickly pushed to the feed-deficient area corresponding to the level of the missed location.

[0040] Furthermore, in order to prevent some feed from passing through the two ends of the feed inlet 231 of the splash-proof cylinder 23 during the pushing process and being left on the feeding path, the length of the pushing plate 32 is greater than the length of the splash-proof cylinder 23 along the axial direction of the splash-proof cylinder 23, and both ends of the pushing plate 32 protrude from the left and right bottom surfaces of the splash-proof cylinder 23.

[0041] Specifically, the two ends of the push plate 32 protrude from the left and right bottom surfaces of the splash guard 23 by 10 to 50 cm, respectively, thereby increasing the effective pushing area of ​​the push plate 32. Under the action of the inclination angle of the push plate 32, the feed missed on both sides of the splash guard 23 can be pushed to the edge of one side of the feeding channel.

[0042] In order to avoid the push plate 32 from scraping the ground during the pushing process and causing a large friction, the friction not only increases the power consumption of the traveling frame 10, but also easily causes the feed to get stuck and the push plate 32 to be severely worn. Therefore, the side of the push plate 32 close to the ground can be provided with a felt strip, a sealing brush strip with hard bristles or a side guard strip made of wear-resistant material, etc. On the one hand, it avoids the push plate 32 from directly contacting the ground and causing hard friction, thereby achieving the effect of protecting the push plate 32. On the other hand, it increases the contact area between the lower edge of the push plate 32 and the feed to avoid leakage.

[0043] Furthermore, after the double pushing operation of the first pushing assembly 20 and the second pushing assembly 30, in order to prevent some of the missed feed from accumulating on both sides of the feeding path or being adhered to the feeding path after being crushed by the wheels of the traveling frame 10, thereby causing pollution of the feeding path and waste of feed, a cleaning assembly 40 is provided at the bottom of the frame 12 of the traveling frame 10 away from the first pushing assembly 20, for sweeping the missed feed away from the feeding path. The cleaning assembly 40 includes a driving motor 41 and a pair of cleaning brush turntables 42. The pair of cleaning brush turntables 42 are in the center of a circle, and the center of the circle at the upper end thereof is rotatably connected to the chassis of the frame 12 of the traveling frame 10 through a rotating shaft 421, and the rotating shaft 421 is distributed at the bottom of the traveling frame 10. On the left and right sides, so that the cleaning area of ​​the cleaning brush turntable 42 can cover the width range of the traveling frame 10 in the width direction, and bristles are provided at the lower end of the cleaning brush turntable 42; the housing of the drive motor 41 is provided on the traveling frame 10, and the drive shaft of the drive motor 41 extends downward. In one embodiment of the transmission structure, the drive shaft of the drive motor 41 and the point where the rotating shaft 421 at the upper end of the two cleaning brush turntables 42 is located can form a triangle and meet the angle design of the belt drive, and the drive shaft and the rotating shaft 421 are both provided with a transmission wheel 43 on the same horizontal plane, and a transmission belt 44 is provided between the transmission wheels 43, so that the drive motor 41 can drive the above-mentioned pair of cleaning brush turntables 42 to rotate synchronously.

[0044] When the double-auger mixing feeding robot moves forward, the two cleaning brush turntables 42 rotate synchronously to form a cleaning area with the same width as the traveling frame 10 at the bottom of the traveling frame 10, and because the two cleaning brush turntables 42 rotate synchronously with the same speed and direction of rotation, the missed feed at the bottom of the traveling frame 10 can be cleaned to the side of the feeding path.

[0045] Furthermore, along the forward direction of the traveling frame 10 , a pair of cleaning brush turntables 42 are staggeredly distributed front to back.

[0046] During the cleaning process, the two circular cleaning areas formed by the pair of cleaning brush turntables 42 are staggered and overlapped in the middle of the moving path of the traveling frame 10 to avoid the formation of gaps between the cleaning brush turntables 42, thereby improving cleaning efficiency and cleanliness.

[0047] Furthermore, in order to enable the above-mentioned traveling frame 10 to drive itself and achieve the purpose of automatic material pushing, the above-mentioned traveling frame 10 includes a frame 12, a traveling mechanism 11, a guide controller 13 and a laser radar 14. The traveling mechanism 11 is composed of components or systems for vehicle movement, such as a battery, a driving motor, a steering system and a traveling wheel. The traveling mechanism 11 is arranged at the bottom of the frame 12 and carries the frame 12 to move. The guide controller 13 is electrically connected to the traveling mechanism 11 and the laser radar 14, wherein the laser radar 14 is used to monitor and obtain information such as the distance of obstacles around the moving path in real time during the movement to correct the navigation route of the traveling mechanism 11. The guide controller 13 can control the traveling mechanism 11 to move along the navigation route based on the corrected navigation route, so that the above-mentioned traveling mechanism can automatically complete actions such as outbound delivery, material pushing, warehousing, and connection to the charging socket according to the set route, so that the traveling frame 10 can realize the automatic driving function, thereby saving labor and operating costs, and avoiding cross-infection between humans and animals, pollution of the breeding environment, and the like. The purpose of the above scheme is to enable the traveling frame 10 to complete self-driving, and it is not limited to the single form of guidance by the laser radar 14. Any system, mechanism or structure that can help the traveling frame 10 achieve automatic driving can be used. For example, the Chinese invention disclosed with publication number CN111559259B - ROS-based high-efficiency wireless charging intelligent vehicle with laser navigation function and control method, which uses the principle of controlling the automatic movement of the vehicle, can also enable the traveling frame 10 in this case to achieve automatic driving. As for how to control the steering, movement and other tracking movements of the traveling frame 10, the details or program content of the scheme are not the focus of this case and will not be elaborated in this case.

[0048] Obviously, the above embodiments of the present application are merely examples for the purpose of clearly illustrating the present application, and are not intended to limit the implementation methods of the present application. For those skilled in the art, other variations or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A double-auger mixing and feeding robot, characterized in that: include Travel frame for automatic travel; and The first pushing assembly includes a driving mechanism, a roller, a splash-proof cylinder and two auger blades, the splash-proof cylinder is transversely fixed to the front end of the traveling frame, and the side wall of the splash-proof cylinder is provided with a feed port facing the ground, the roller penetrates the splash-proof cylinder axially along the splash-proof cylinder and one end is connected to the driving mechanism for transmission, and the driving mechanism is used to drive the roller to rotate; in the splash-proof cylinder, auger mounting frames are arranged at intervals along the axial direction on the surface of the roller, and the two auger blades have the same rotation direction and extend in an staggered spiral around the axial direction of the roller and are fixedly connected to the auger mounting frames respectively.

2. The double-auger mixing feeding robot according to claim 1, characterized in that: A plurality of shifting pieces are arranged at intervals on the surface of the auger blade along the direction of spiral extension.

3. The double-auger mixing feeding robot according to claim 1, characterized in that: A material guiding shovel is provided on one side of the feed opening adjacent to the ground.

4. The double-auger mixing feeding robot according to claim 1, characterized in that: It also includes a second pushing assembly, which includes an angle adjustment mechanism and a pushing plate. The angle adjustment mechanism is arranged at the bottom of the traveling frame. Along the forward direction of the traveling frame, the pushing plate is located on the rear side of the splash shield and is transmission-connected to the angle adjustment mechanism. The angle adjustment mechanism is used to drive the pushing plate to tilt toward the pushing direction of the auger blade, so that the pushing direction of the pushing plate is the same as the pushing direction of the auger blade.

5. The double-auger mixing feeding robot according to claim 4, characterized in that: Along the axial direction of the splash-proof tube, the length of the push plate is greater than the length of the splash-proof tube, and both ends of the push plate protrude from the two bottom surfaces of the splash-proof tube.

6. The double-auger mixing and feeding robot according to claim 1, characterized in that: A cleaning assembly is provided at the bottom of the traveling frame away from the first pushing assembly, and the cleaning assembly includes a driving motor and a pair of cleaning brush turntables. The pair of cleaning brush turntables are rotatably provided on the left and right sides of the bottom of the traveling frame and are transmission-connected to the driving motor; bristles are provided on the bottom surface of the cleaning brush turntable, and the driving motor is used to drive the pair of cleaning brush turntables to rotate synchronously.

7. The double-auger mixing and feeding robot according to claim 6, characterized in that: Along the forward direction of the traveling frame, a pair of cleaning brush turntables are staggered front and back.

8. The double-auger mixing and feeding robot according to claim 1, characterized in that: The traveling frame includes a traveling mechanism, a guide controller and a laser radar. The guide controller is electrically connected to the traveling mechanism and the laser radar. The laser radar is used to obtain environmental information to correct the navigation route. The guide controller is used to control the traveling mechanism to move along the navigation route based on the navigation route.

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