Material pushing robot

Abstract

The utility model provides a material pushing robot, relates to the technical field of material pushing, and aims to solve the technical problem that a battery of the material pushing robot is difficult to disassemble and assemble due to narrow space. The material pushing robot comprises a body and a material pushing barrel surrounding the periphery of the body, and the material pushing barrel is rotationally arranged on the body; the body comprises a walking chassis, a first base plate and a plurality of rolling wheels, and the first base plate is arranged above the walking chassis through a plurality of stand columns; each roller is rotationally arranged on the outer side of the corresponding stand column; the material pushing barrel comprises a barrel body and a frame structure supported in the barrel body, and the frame structure is rotationally arranged on the first base plate; an annular guide rail is further arranged on the inner wall of the barrel, and the rollers are attached to the inner wall face of the guide rail. The body further comprises a driving device arranged below the first base plate, and the driving device is in transmission connection with the frame structure. The body further comprises a battery and a second substrate located between the walking chassis and the first substrate. According to the stacking robot, the battery can be disassembled and assembled from the top of the barrel conveniently and quickly.

Description

Technical Field

[0001] This utility model relates to the field of material pushing technology, and in particular to a material pushing robot. Background Technology

[0002] In dairy farming, Total Mixed Ration (TMR) is often used for automated feeding. This method requires specialized processing equipment to mix roughage, concentrates, and other additives together to ensure uniform mixing. The TMR feed is then delivered to the feeding area using appropriate equipment. During feeding, dairy cows exhibit picky eating behavior due to different feed preferences, pushing unwanted feed out of the feeding area. This affects the cows' nutrient absorption, leading to a decrease in milk yield and quality. Therefore, a feed-pushing robot is used to push the feed back to the feeding area. However, in related technologies, stacking robots are difficult to maintain due to the confined space of the surrounding cylindrical enclosure. Utility Model Content

[0003] The purpose of this utility model is to provide a pusher robot to solve the technical problem that the battery of the pusher robot is difficult to disassemble and install due to the narrow space.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] In a first aspect, the present invention provides a pushing robot, including a body and a pushing cylinder surrounding the body, wherein the pushing cylinder is rotatably mounted on the body.

[0006] The main body includes a walking chassis, a first base plate, and multiple rollers. The first base plate is mounted above the walking chassis via multiple columns. Each roller is rotatably mounted on the outside of the corresponding column.

[0007] The pusher cylinder includes a cylinder body and a frame structure supported inside the cylinder body, the frame structure being rotatably mounted on the first base plate.

[0008] The inner wall of the cylinder is also provided with an annular guide rail, and each of the rollers is attached to the inner wall surface of the guide rail;

[0009] The body also includes a driving device disposed below the first substrate, and the driving device is connected to the frame structure in a transmission manner.

[0010] According to at least one embodiment of the present invention, the roller is a nylon roller.

[0011] According to at least one embodiment of the present invention, each of the rollers is evenly distributed along the circumference of the body.

[0012] According to at least one embodiment of the present invention, the main body further includes a battery and a second substrate located between the walking chassis and the first substrate; the second substrate is disposed at the middle position of the column.

[0013] The second substrate has a first clearance opening, the battery is disposed on the chassis, and a portion of the battery is located in the first clearance opening;

[0014] The first substrate has a second clearance opening opposite to the first clearance opening.

[0015] According to at least one embodiment of the present invention, the body further includes a first gear and a second gear and a vertical rod disposed at the center of the first substrate, wherein the second gear is rotatably disposed around the vertical rod.

[0016] The first gear meshes with the second gear, the frame structure is disposed on the second gear, and the first gear is disposed on the output shaft of the drive device;

[0017] The diameter of the first gear is smaller than the diameter of the second gear.

[0018] According to at least one embodiment of the present invention, the pushing robot further includes a dust cover covering the pushing cylinder, the dust cover including a base and a cover body hinged to the base;

[0019] The base includes an annular base and a crossbeam disposed inside the base, the crossbeam being fixedly mounted on the upright;

[0020] The diameter of the base is the same as the diameter of the cylinder.

[0021] According to at least one embodiment of the present invention, the cover is a spherical crown-shaped component, and at least one wave rangefinder is provided on the top of the cover.

[0022] According to at least one embodiment of the present invention, the pusher cylinder further includes a plurality of rubber strips surrounding the bottom outer side of the cylinder body, the rubber strips having free ends spaced apart from the cylinder body.

[0023] According to at least one embodiment of the present invention, the walking chassis includes two drive motors and two driving wheels and one driven wheel arranged in an equilateral triangle.

[0024] Each of the drive wheels is connected to the corresponding drive motor.

[0025] According to at least one embodiment of the present invention, a plurality of protective shells are provided on the second substrate, the protective shells being used to house electronic devices.

[0026] In one or more technical solutions provided in the exemplary embodiments of this utility model, at least one of the following beneficial effects can be achieved.

[0027] The pusher robot of this exemplary embodiment includes a main body and a pusher cylinder surrounding the main body, with the pusher cylinder rotatably mounted on the main body. Specifically, the main body includes a walking chassis, a first base plate, and multiple rollers, wherein the walking chassis and the first base plate are connected by multiple columns, and each roller is rotatably mounted on the outside of a corresponding column. When the cylinder body is fitted onto the outside of the main body, the rollers can fit against the inner wall of the guide rail inside the cylinder. The frame structure inside the cylinder is rotatably mounted on the first base plate. Therefore, when the cylinder rotates, the multiple rollers can support the cylinder and provide cushioning.

[0028] Furthermore, mounting the battery on the walking chassis lowers the center of gravity of the entire pushing robot, maintaining stability and reducing the impact of external factors on the battery, thereby ensuring battery safety. On the other hand, the vertical battery can be pulled out from the top of the cylinder for easy replacement, and the operating space is larger compared to existing battery replacement technologies. Attached Figure Description

[0029] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification.

[0030] Figure 1 This is a three-dimensional structural diagram of the pusher robot body according to an embodiment of the present utility model;

[0031] Figure 2 This is a side view structural diagram of a material pushing robot according to an embodiment of the present utility model;

[0032] Figure 3 This is a three-dimensional structural diagram of the pusher cylinder according to an embodiment of the present utility model;

[0033] Figure 4 This is a top view structural diagram of the pusher robot according to an embodiment of the present utility model;

[0034] Figure 5 This is a front view structural diagram of a material pushing robot according to an embodiment of the present utility model.

[0035] Reference numerals: 10, chassis; 11, drive wheel; 12, driven wheel; 13, battery; 20, second base plate; 21, drive device; 22, first gear; 23, second gear; 30, first base plate; 31, second clearance opening; 32, upright; 41, column; 42, ear plate; 43, roller; 51, base; 52, cover; 60, cylinder; 61, frame structure; 62, guide rail; 63, rubber strip. Detailed Implementation

[0036] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0037] Figure 1 This is a three-dimensional structural diagram of the pusher robot body according to an embodiment of the present utility model; Figure 3 This is a three-dimensional structural diagram of the pusher cylinder according to an embodiment of the present utility model. Figure 1 and Figure 3 As shown, the pusher robot of the present invention, an exemplary embodiment, includes a main body and a pusher cylinder surrounding the main body, with the pusher cylinder rotatably mounted on the main body. The main body includes a walking chassis 10, a first base plate 30, and a plurality of rollers 43. The first base plate 30 is mounted above the walking chassis 10 via a plurality of columns 41. Each roller 43 is rotatably mounted on the outside of the corresponding column 41. The pusher cylinder includes a cylinder 60 and a frame structure 61 supported within the cylinder 60, with the frame structure 61 rotatably mounted on the first base plate 30. An annular guide rail 62 is also provided on the inner wall of the cylinder 60, and each roller 43 is attached to the inner wall surface of the guide rail 62. The main body also includes a drive device 21 located below the first base plate 30, which is connected to the frame structure 61 in a transmission manner.

[0038] In practical applications, the drive device 21 drives the frame structure 61 to rotate on the first base plate 30, and the frame structure 61 drives the cylinder 60 to rotate circumferentially along the body. During the rotation, the outer wall of the cylinder 60 pushes the feed back into the cow's feeding area. Driven by the walking chassis 10, the feeding robot walks along the feeding area, thereby pushing all the feed that has been pushed out of the feeding area back into the feeding area.

[0039] Specifically, the portion of the frame structure 61 located at the top of the cylinder 60 is rotatably positioned above the first base plate 30. The frame structure 61 also includes an annular guide rail 62, which is located on the inner wall of the cylinder 60 and at the center of the cylinder 60 in the vertical direction. Multiple rollers 43 are circumferentially arranged at the center of the body. Specifically, the rollers 43 are rotatably mounted on a column 41, which connects the first base plate 30 and the traveling chassis 10. The rollers 43 roll and conform to the inner wall surface of the guide rail 62, thereby allowing the cylinder 60 to rotate smoothly.

[0040] For example, the first base plate 30 and the traveling chassis 10 are generally square in shape, and there are four pillars 41, each pillar 41 being located at a corner of the first base plate 30 and a corner of the traveling chassis 10. Two ear plates 42 are provided on the outer side of the pillar 41, and the rollers 43 are rotatably disposed between the two ear plates 42 via a rotating shaft. It can be understood that the rotating shaft is arranged in the vertical direction.

[0041] Since the columns 41 are distributed along the circumference of the body, the rollers 43 are evenly distributed along the circumference of the body, reducing swaying and ensuring the overall stability of the pusher robot.

[0042] In some implementations, the roller 43 can be a nylon wheel. When the pushing robot is subjected to external impact, the roller 43 can act as a buffer, preventing deformation and enhancing the impact resistance of the robot body.

[0043] Continue as Figure 1 As shown, the main body also includes a battery 13 and a second substrate 20 located between the chassis 10 and the first substrate 30; the second substrate 20 is located in the middle of the column 41; the second substrate 20 has a first clearance opening, the battery 13 is located on the chassis 10, and a portion of the battery 13 is located in the first clearance opening; the first substrate 30 has a second clearance opening 31 opposite to the first clearance opening.

[0044] The battery 13 is a vertically removable battery, which is mounted on the walking chassis 10 and passes through the second substrate 20 through a first clearance opening. Correspondingly, the first substrate 30 also has a second clearance opening 31 through which the battery 13 can pass. On the one hand, mounting the battery 13 on the walking chassis 10 can lower the center of gravity of the entire pushing robot, maintain stability, reduce the impact of external factors on the battery 13, and thus ensure the safety of the battery 13. On the other hand, the vertical battery 13 can be pulled out from the top of the cylinder 60, which is convenient for replacement and provides more operating space compared to the battery replacement technology of the prior art.

[0045] Figure 4 This is a top view structural diagram of the material-pushing robot according to an embodiment of the present utility model. Figure 3 and Figure 4As shown, the frame structure 61 located at the top of the cylinder 60 includes a central disc and six aluminum tubes extending outward in the circumferential direction. The aluminum tubes are supported on a ring, and the ring is supported inside the cylinder 60. This structure can disperse the impact force on the cylinder and stably support the cylinder, allowing it to rotate smoothly.

[0046] Figure 2 This is a side view structural diagram of the material pushing robot according to an embodiment of the present invention. Figure 2 As shown, the main body also includes a first gear 22, a second gear 23 disposed at the center of the first base plate 30, and a vertical rod 32. The second gear 23 is rotatably disposed around the vertical rod 32. The first gear 22 meshes with the second gear 23. The frame structure 61 is disposed on the second gear 23. The first gear 22 is disposed on the output shaft of the drive device 21. The diameter of the first gear 22 is smaller than the diameter of the second gear 23.

[0047] The central disc of the frame structure 61 is fixed above the second gear 23 by a ring. The second gear 23 is rotatably mounted on the periphery of the upright 32, which is fixed at the center of the first base plate 30. The drive device 21 can be located below the first base plate 30, for example, on the second base plate 20. Its output shaft passes through the first base plate 30 and is equipped with a first gear 22. The first gear 22 meshes with the second gear 23, thereby transmitting power to the second gear 23, which in turn causes the entire frame structure 61 and cylinder 60 to rotate. For example, the diameter of the first gear 22 is smaller than the diameter of the second gear 23. The gear transmission can reduce speed and increase torque to meet heavy-duty operations, improve transmission accuracy and reduce error accumulation, achieve smooth operation and reduce noise and vibration, and has high reliability, simple and durable structure, small size and strong adaptability, making it suitable for various environments and loads.

[0048] For example, the drive unit 21 can be a Z5BLD motor.

[0049] For example, the pole 32 can be a hollow pole with an internal hollow cavity that penetrates the first substrate, providing a channel for the cables of electronic devices.

[0050] Figure 5 This is a front view structural diagram of a material-pushing robot according to an embodiment of the present utility model. Figure 2 and Figure 5 As shown, the pushing robot also includes a dust cover on the pushing cylinder. The dust cover includes a base 51 and a cover body 52 hinged to the base 51. The base 51 includes an annular base and a crossbeam located inside the base. The crossbeam is fixed on the upright 32. The diameter of the base is the same as the diameter of the cylinder 60.

[0051] Due to the dusty working environment of the pushing robot and to prevent rainwater from corroding the internal components of the cylinder 60, a dust cover is installed above the rotating cylinder 60 to avoid these problems. Specifically, the crossbeam supported inside the base can be fixedly mounted on the upright 32. During the rotation of the cylinder 60, the base remains stationary, thus decoupling the dust cover from the rotation of the cylinder 60. The dust cover only translates with the chassis 10 and does not participate in the rotation of the cylinder 60. Therefore, the cylinder 60 and the dust cover constitute two independent motion systems. When at least one ultrasonic rangefinder, such as a lidar, is installed on the top of the cover 52 to measure the distance between the material and the vehicle body, the pushing robot can accurately plan its trajectory using SLAM (Simultaneous Localization and Mapping) algorithm based on radar echo data. Furthermore, during movement, the rotation frequency of the cylinder is not affected by adjustments to the robot's posture or external interference, ensuring the stability and autonomy of the pushing action.

[0052] For example, the cover 52 is a spherical crown-shaped component that can be opened and closed within a range of 0° to 90° via a hinge, thereby allowing for convenient and quick maintenance of the components inside the robot body from the top.

[0053] In some embodiments, the pusher cylinder also includes a plurality of rubber strips 63 surrounding the bottom outer wall of the cylinder body 60, the rubber strips 63 having free ends spaced apart from the cylinder body 60.

[0054] For example, the rubber strip 63 can be a rubber strip or a brush ring, which can cover the gap between the cylinder and the ground. During the feeding process, the rotation of the cylindrical body 60 acts directly on the feed through friction, pushing the feed to move in a predetermined direction. The brush ring utilizes its contact with the material and the ground to perform cleaning and sorting functions. It can not only clean up debris at the bottom and prevent material accumulation from causing feeding difficulties, but also use the combing action of the bristles to organize the material to a designated position, optimize material distribution, and improve feeding efficiency. At the same time, the brush ring can remove small obstacles on the robot's travel path, ensuring smooth robot movement.

[0055] Specifically, there can be multiple rubber strips 63, such as three or four. The ends of the rubber strips 63 along the rotation direction of the cylinder 60 do not adhere to the bottom outer wall of the cylinder 60, but detach from the cylinder 60 to form free ends. These free ends can better play the role of propelling feed.

[0056] In some embodiments, the chassis 10 includes two drive motors, two drive wheels 11 arranged in an equilateral triangle, and one driven wheel 12; each drive wheel 11 is connected to the corresponding drive motor.

[0057] The layout of two driving wheels 11 and one driven wheel 12 arranged in an equilateral triangle can effectively balance the vehicle's center of gravity, giving the chassis strong anti-roll performance and improving driving stability. Each driving wheel 11 is driven by an independent drive motor, enabling flexible steering and optimizing the turning radius.

[0058] For example, the drive wheel 11 and the corresponding drive motor are fastened to the chassis 10 with four bolts. When disassembling the drive wheel 11 and the drive motor, only four bolts need to be removed to achieve quick separation, simplifying the assembly process, reducing assembly time and process complexity, reducing production costs, and providing convenience for subsequent maintenance, thereby reducing maintenance costs and time costs.

[0059] In some embodiments, the second substrate 20 is provided with multiple protective shells for housing electronic components. These electronic components may include motor drivers, electronic buzzers, MOSFETs, small human-machine interface screens, etc. These electrical control components are housed in waterproof protective shells to prevent moisture and dust ingress that could lead to malfunctions. Furthermore, arranging the electronic components between the first substrate 30 and the second substrate 20 solves the problems of messy electrical wiring, difficult wiring, high costs, and difficulty in maintenance.

[0060] Those skilled in the art should understand that the above embodiments are merely for clearly illustrating the present invention and are not intended to limit the scope of the present invention. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A pusher robot, characterized in that, The body comprises a pushing barrel surrounding the periphery of the body, and the pushing barrel is rotationally arranged on the body; The body comprises a walking chassis, a first base plate and a plurality of rollers, the first base plate is arranged above the walking chassis through a plurality of columns, and each roller is rotationally arranged outside the corresponding column; The pushing barrel comprises a barrel body and a frame structure supported in the barrel body, and the frame structure is rotationally arranged on the first base plate; An annular guide rail is further arranged on the inner wall of the barrel body, and each roller is attached to the inner wall surface of the guide rail; The body further comprises a driving device arranged below the first base plate, and the driving device is in transmission connection with the frame structure; The body further comprises a battery and a second base plate between the walking chassis and the first base plate; The second base plate is arranged at the middle position of the columns; The second base plate has a first avoiding opening, the battery is arranged on the walking chassis, and a part of the battery is located in the first avoiding opening; The first base plate has a second avoiding opening opposite to the first avoiding opening.

2. The pusher robot according to claim 1, characterized in that, The roller is a nylon roller.

3. The pusher robot of claim 1, wherein, Each roller is uniformly distributed along the circumference of the body.

4. The pusher robot of claim 1, wherein, The body further comprises a first gear, a second gear arranged at the center of the first base plate, and a column, the second gear is rotationally arranged at the periphery of the column; The first gear is in meshing connection with the second gear, the frame structure is arranged on the second gear, and the first gear is arranged on the output shaft of the driving device.

5. The pusher robot according to claim 4, characterized in that, The diameter of the first gear is smaller than the diameter of the second gear.

6. The pusher robot according to claim 5, characterized in that, The pushing robot further comprises a dustproof cover arranged on the pushing barrel, the dustproof cover comprises a base and a cover body hinged to the base; The base comprises an annular base and a cross beam arranged inside the base, and the cross beam is fixedly arranged on the column; The diameter of the base is consistent with the diameter of the barrel body.

7. The pusher robot according to claim 6, characterized in that, The cover body is a spherical cap type member, and at least one range finder is further arranged at the top of the cover body.

8. The pusher robot according to any of claims 4-7, characterized in that, The pushing barrel further comprises a plurality of rubber strips surrounding the outer wall of the bottom of the barrel body, and the rubber strips have free ends spaced apart from the barrel body.

9. The pusher robot according to claim 8, characterized in that, The walking chassis comprises two driving motors, two driving wheels and one driven wheel in equilateral triangle distribution; Each driving wheel is in transmission connection with the corresponding driving motor.

10. The pusher robot of claim 8, wherein, A plurality of protective shells are arranged on the second base plate, and the protective shells are used for accommodating electronic devices.

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