Robot with weighing and timed and quantitative feeding functions

Abstract

The utility model discloses a robot with weighing and timed and quantitative feeding functions, which is provided with a shell, a charging barrel, a feeding device, a discharging device, a traveling mechanism and a control system, and the control system is in control connection with the traveling mechanism, the feeding device and the discharging device; the walking mechanism comprises a driving motor, a weighing sensor, two driving wheels and two driven wheels; the driving motor is electrically connected with the control system, the two driving wheels are connected through a bearing shaft, the bearing shaft is connected with the shell through a weighing sensor, the driving motor is in transmission connection with the bearing shaft, and the driving motor is installed in the shell; the two driven wheels are provided with supporting shafts, the supporting shafts are connected with the outer shell through weighing sensors, the weighing sensors are electrically connected with the control system, the defects in the prior art are overcome, and the feeding device has the weighing and timed feeding capacity.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of shrimp feeding robot, specifically belongs to the robot with weighing and timing ration feeding function. BACKGROUND

[0002] At present, the greenhouse shrimp culture has become the main way of factory shrimp culture, because the space in the greenhouse is limited, it is very inconvenient for personnel to walk back and forth during the feeding process, therefore, the automatic feeding equipment is used for feeding at present, but the existing shrimp feeding robot cannot automatically feed on time, and the breeding personnel need to operate every time, which is inconvenient to use. CONTENT OF THE UTILITY MODEL

[0003] The utility model aims at providing the robot with weighing and timing ration feeding function, and overcomes the shortage of prior art.

[0004] To solve the above problems, the technical scheme adopted by the utility model is as follows:

[0005] The robot with weighing and timing ration feeding function has a shell, which comprises:

[0006] The barrel is used for containing feed;

[0007] The feeding device is connected with the barrel and is used for uniformly outputting the feed in the barrel;

[0008] The discharging device is connected with the feeding device and is used for spraying the feed;

[0009] The walking mechanism is used for driving the robot to walk;

[0010] The control system is connected with the walking mechanism, the feeding device and the discharging device;

[0011] The walking mechanism comprises a driving motor, a weighing sensor, two driving wheels and two driven wheels; the driving motor is electrically connected with the control system, the two driving wheels are connected through a load-bearing shaft, the load-bearing shaft is connected with the shell through the weighing sensor, the driving motor is in transmission connection with the load-bearing shaft, and the driving motor is installed in the shell; the two driven wheels are provided with support shafts, the support shafts are connected with the shell through the weighing sensor, and the weighing sensor is electrically connected with the control system;

[0012] The barrel, the feeding device, the discharging device and the walking mechanism are installed on the shell.

[0013] The weighing sensor is arranged at four positions, and one is arranged at each driving wheel and each driven wheel.

[0014] The feeding device comprises an outlet motor and an outlet auger, the outlet motor is in driving connection with the outlet auger, the outlet auger is installed at the bottom of the barrel, and the outlet motor is electrically connected with the control system.

[0015] The outlet device comprises an outlet pipe and a fan installed at the lower part of the outlet pipe, the fan is electrically connected with the control system, the fan is used for blowing the feed in the outlet pipe out of the outlet pipe, and the end of the outlet pipe is located outside the shell.

[0016] The outlet pipe has two ends, and the two ends of the outlet pipe are located at two sides of the shell.

[0017] The two sides of the shell are respectively provided with proximity sensors which are electrically connected with the control system.

[0018] The proximity sensor on the right side of the shell is located in front of the outlet pipe on the right side of the shell, and the proximity sensor on the left side of the shell is located behind the outlet pipe on the left side of the shell.

[0019] Compared with the prior art, the implementation effects of the utility model are as follows:

[0020] The robot can weigh the feed added into the barrel through the installed sensor, avoid working when the feed is insufficient during feeding, and realize quantitative feeding by controlling the weight of the feed added into the barrel. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Fig. 1 is a structural schematic view of the front part of the utility model;

[0022] Figure 2 Fig. 2 is a structural schematic view of the rear part of the utility model;

[0023] Figure 3 Fig. 3 is a structural schematic view of the inside of the shell;

[0024] Figure 4 Fig. 4 is a structural schematic view of the outlet device;

[0025] Figure 5 Fig. 5 is a structural schematic view of the outlet pipe;

[0026] Figure 6 Fig. 6 is a structural schematic view of the walking mechanism.

[0027] Explanation of reference signs: 1, barrel; 2, shell; 3, control panel; 4, proximity sensor; 5, discharge pipe; 51, feeding port; 52, discharge channel; 6, discharge motor; 7, fan; 8, driving motor; 81, first gear; 82, second gear; 83, bearing shaft; 84, bearing seat; 85, driving wheel; 86, support shaft; 87, driven wheel; 9, weighing sensor. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0029] In the description of the utility model, it should be explained that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation to be constructed and operated in a particular orientation, so it cannot be understood as a limitation on the utility model.

[0030] In the description of the utility model, it should be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0031] As shown in Figures 1-6 The robot with weighing and timed and quantitative feeding functions of the utility model has a shell 2, a barrel 1, a feeding device, a discharging device, a walking mechanism and a control system. The control system is in control connection with the walking mechanism, the feeding device and the discharging device. The barrel 1, the feeding device, the discharging device and the walking mechanism are mounted on the shell 2. The control system is used for controlling the operation of the whole system. The control system is loaded in the control panel 3. The control panel 3 is powered by an external power supply. The external power supply can directly use a storage battery. The storage battery is mounted in the shell 2.

[0032] The feeding barrel 1 is installed on the top of the shell 2, the feeding device is installed in the shell 2 below the feeding barrel 1, the feeding device is also connected with the discharging device installed in the shell 2, the discharging device comprises a discharging pipe 5 and a fan 7 installed at the lower part of the discharging pipe 5, the fan 7 is electrically connected with the control system, the fan 7 is used for blowing the feed entering the discharging pipe 5 out of the discharging pipe 5, and the end of the discharging pipe 5 is located outside the shell 2. The feeding device comprises a discharging motor 6 and a discharging auger, the discharging motor 6 is drivingly connected with the discharging auger, the discharging auger is installed at the bottom of the feeding barrel 1, the discharging motor 6 is electrically connected with the control system, and when the discharging auger rotates, the feed in the feeding barrel 1 can be uniformly output and enter the discharging pipe 5 installed below the discharging auger, and the discharging pipe 5 is connected with the discharging auger, so that the feed in the discharging auger can directly enter the discharging pipe 5.

[0033] In order to make the left side and the right side of the robot can discharge, two discharging pipes 5 can be arranged, the ends of the two discharging pipes 5 are located on the two sides of the shell 2 respectively, and the top parts of the two discharging pipes 5 are connected, so that the two discharging pipes 5 form a person-shaped structure; the top part of the discharging pipe 5 is provided with a feeding port 51, the discharging auger passes through the feeding port 51 and is drivingly connected with the discharging motor 6 arranged below the feeding port 51, and the feed output by the discharging auger enters the discharging passage 52 in the discharging pipe 5 from the feeding port 51.

[0034] The walking mechanism comprises a driving motor 8, four weighing sensors 9, two driving wheels 85 and two driven wheels 87; the driving motor 8 is electrically connected with the control system, the two driving wheels 85 are connected through a bearing shaft 83, and the bearing shaft 83 is connected with the shell 2 through a bearing seat 84 and the weighing sensor 9, the driving motor 8 is drivingly connected with the bearing shaft 83 through the first gear 81 and the second gear 82 which are engaged with each other, the first gear 81 and the second gear 82 are gap-fitted, so as to avoid that the acting force between the first gear 81 and the second gear 82 has a great influence on the weighing result of the weighing sensor 9; the driving motor 8 is installed in the shell 2 and located above the bearing shaft 83; the two driven wheels 87 are provided with support shafts 86, the support shafts 86 are connected with the shell 2 through the weighing sensors 9, that is, there is one weighing sensor 9 at each driving wheel 85 and each driven wheel 87, and the four weighing sensors 9 are electrically connected with the control system; so that the support shafts 86, the bearing shaft 83 and the shell 2 form a structure which is supported by the four weighing sensors 9.

[0035] The two sides of the shell 2 are also respectively provided with proximity sensors 4 electrically connected with the control system, when the proximity sensors 4 detect obstacles on the two sides during the feeding process of the robot, the control system controls the discharging device and the feeding device to stop working, so as to avoid that the feed cannot be scattered into the shrimp pond, and when the obstacles disappear, the control system controls the discharging device and the feeding device to work again after the walking mechanism continues to work for a preset time (i.e. the end of the discharging pipe 5 moves out of the range where the obstacles are located). The proximity sensor 4 on the right side of the shell 2 is located in front of the discharging pipe 5 on the right side of the shell 2, and the proximity sensor 4 on the left side of the shell 2 is located behind the discharging pipe 5 on the left side of the shell 2; so that the robot can detect the pair of columns arranged in the greenhouse, i.e. when the robot moves forward, the proximity sensor 4 on the right side of the shell 2 detects the obstacles (columns), and the control system controls the discharging device and the feeding device to stop working; when the robot moves backward, the proximity sensor 4 on the left side of the shell 2 detects the obstacles (columns), and the control system also controls the discharging device and the feeding device to stop working; similarly, when the obstacles (columns) disappear, the control system controls the discharging device and the feeding device to work again after the walking mechanism continues to work for a preset time (i.e. the end of the discharging pipe 5 moves out of the range where the columns are located).

[0036] When the robot is used, the staff adds the feed into the barrel 1, and the weight of the added feed can be judged according to the value displayed on the control panel 3; after the feed is added, the starting time and the feeding amount of the feeding are set through the control panel 3, and the control system in the control panel 3 can start the walking mechanism, the fan 7 and the discharging motor 6 in time to start feeding the feed, when the control system detects that the weight of the feed in the barrel 1 is reduced to a preset weight value according to the weighing sensor 9, the control system controls the walking mechanism, the fan 7 and the discharging motor 6 to stop working and stop feeding; when the next feeding time comes, the control system restarts the feeding program according to the above steps; when the control system detects that the weight of the feed in the barrel 1 is 0 according to the weighing sensor 9, the control system also controls the walking mechanism, the fan 7 and the discharging motor 6 to stop working and stop feeding.

[0037] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot having a weighing and time-quantitative feeding function, having a housing, characterized in that, The utility model relates to a robot for feeding livestock, which comprises: a barrel for containing feed; a feeding device connected to the barrel for uniformly outputting the feed in the barrel; a discharging device connected to the feeding device for spraying the feed out; a walking mechanism for driving the robot to walk; a control system connected to the walking mechanism, the feeding device and the discharging device; the walking mechanism comprises a driving motor, a weighing sensor, two driving wheels and two driven wheels; the driving motor is electrically connected to the control system; the two driving wheels are connected by a load-bearing shaft; the load-bearing shaft is connected to the housing through the weighing sensor; the driving motor is in transmission connection with the load-bearing shaft and is installed in the housing; the two driven wheels are provided with support shafts; the support shafts are connected to the housing through the weighing sensor; and the weighing sensor is electrically connected to the control system.

2. The robot with the weighing and timed ration feeding function according to claim 1, characterized in that: There are four weighing sensors, one for each driving wheel and one for each driven wheel.

3. The robot with the weighing and timed ration feeding function according to claim 1, characterized in that: The feeding device comprises a discharging motor and a discharging auger; the discharging motor is in driving connection with the discharging auger; the discharging auger is installed at the bottom of the barrel; and the discharging motor is electrically connected to the control system.

4. The robot with the weighing and timed ration feeding function according to claim 3, characterized in that: The discharging device comprises a discharging pipe and a fan installed at the lower part of the discharging pipe; the fan is electrically connected to the control system; the fan is used for blowing the feed in the discharging pipe out of the discharging pipe; and the end of the discharging pipe is located outside the housing.

5. The robot with the functions of weighing and time-quantitative feeding according to claim 4, characterized in that: There are two discharging pipes, and the ends of the two discharging pipes are respectively located at the two sides of the housing.

6. The robot with the weighing and timed ration feeding function according to claim 5, characterized in that: There are two proximity sensors respectively installed at the two sides of the housing and electrically connected to the control system.

7. The robot with the weighing and timed ration feeding function according to claim 6, characterized in that: The proximity sensor at the right side of the housing is located in front of the discharging pipe at the right side of the housing, and the proximity sensor at the left side of the housing is located behind the discharging pipe at the left side of the housing.

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