Material pushing mechanism and material pushing robot

Abstract

The utility model relates to a pushing mechanism and a pushing robot. The pushing mechanism comprises an adjusting arm assembly and a pushing plate, and one end of the adjusting arm assembly is connected with the self-moving main machine; the push plate is connected to the other end of the adjusting arm assembly and located in front of the self-moving main machine, a pushing face used for pushing materials is arranged on the side, back on to the self-moving main machine, of the push plate, and the push plate can be driven by the adjusting arm assembly to rotate relative to the self-moving main machine so as to adjust the pushing direction of the push plate.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, in particular to a kind of pushing mechanism and pushing robot. BACKGROUND

[0002] In the feeding management of large-scale cattle farm, the reasonable distribution and recovery of feed are the key link to ensure the health and high yield of cattle herd. Traditionally, feed is poured on the ground outside the cowshed, and the cow eats by sticking its head out through the neck clamp. However, the cow will scatter the feed everywhere during eating, resulting in feed waste and ground space occupation. In order to save feed and optimize the efficiency of ground use, the scattered feed needs to be pushed to one side of the cowshed for centralized storage. In large-scale cattle farms, due to the large area and large number of cattle, relying solely on manual pushing is not only inefficient, but also significantly increases labor intensity, making it difficult to meet the high-efficiency management needs of modern ranches. With the acceleration of population aging and urbanization, ranches in remote areas face the problems of difficulty in recruiting workers and high labor costs, and manual pushing is easily affected by unexpected situations, resulting in delayed pushing, especially at night, which directly affects the foraging amount and milk yield of the cattle herd.

[0003] Traditional pushing equipment such as large carts not only requires manual operation, but also produces a lot of noise during work, which can easily cause stress to the cattle herd, thereby affecting their health and milk quality. In addition, traditional pushing equipment can lead to uneven pushing frequency, which may result in empty troughs or stale feed, thereby causing problems such as rumen acidosis in the cattle herd. SUMMARY

[0004] Therefore, it is necessary to provide a pushing mechanism and pushing robot that is easy to push.

[0005] In a first aspect of the present application, a pushing mechanism is provided, which can be installed on a self-moving host for pushing, comprising:

[0006] an adjustment arm assembly connected to one end of the self-moving host; and

[0007] a push plate connected to the other end of the adjustment arm assembly and located in front of the self-moving host, one side of the push plate facing away from the self-moving host is provided with a pushing surface for pushing, and the push plate can be rotated relative to the self-moving host under the driving of the adjustment arm assembly to adjust the pushing direction of the push plate.

[0008] The pushing mechanism can realize the following beneficial effects: the pushing plate is connected with the self-moving host through the adjusting arm assembly and can rotate relative to the self-moving host under the driving of the adjusting arm assembly, so that the inclination angle of the pushing plate is adjusted. It can be understood that the pushing plate has a certain inclination angle relative to the forward direction, and can apply an oblique force to the feed in front, so that the feed is effectively pushed to the side of the inclination of the pushing plate under the joint action of friction and pushing force, thereby realizing efficient pushing. This design not only improves the pushing efficiency, but also avoids the problems of scattering or uneven accumulation of feed during the pushing process. This design enables the pushing mechanism to flexibly adjust the angle of the pushing plate according to the actual pushing demand, optimizes the pushing effect, and adapts to different types of feed and ground conditions.

[0009] In some embodiments, the pushing mechanism further comprises a scraping strip arranged at the bottom of the pushing plate and in contact with the ground. The scraping strip follows the bottom of the pushing plate and can directly contact the ground to scrape the feed on the ground, ensuring that the feed on the ground is completely scraped and pushed to the target position, avoiding the problem of residual or uneven accumulation of feed. The presence of the scraping strip makes the pushing process more efficient and complete, especially suitable for scenes where the feed is not evenly distributed or the ground is uneven.

[0010] In some embodiments, the scraping strip is configured as a flexible member capable of deforming in the height direction. The scraping strip of the flexible member can be made of a material with elasticity and flexibility (such as rubber), which can better adapt to the ups and downs and unevenness of the ground. Its flexible characteristics enable the scraping strip to automatically adjust its shape when encountering obstacles or ground protrusions, avoiding jamming or damage, and ensuring continuous and smooth effective scraping of feed on uneven ground, avoiding feed residue and ensuring that the feed is completely scraped and pushed to the target position. The flexible material reduces the friction and scratching of the scraping strip on the ground, especially suitable for scenes where the ground protection requirement is high (such as cowshed ground), and the flexible scraping strip causes less damage to the feed during scraping, maintains the integrity of the feed, and ensures the quality of the cow herd's feed.

[0011] In some embodiments, the pushing plate can float relative to the adjusting arm assembly in the height direction to adapt the scraping strip to the ground. The design of the pushing plate floating in the height direction enables the scraping strip to automatically adjust its height according to the ups and downs of the ground, and the pushing plate can automatically adjust its height when encountering ground protrusions or depressions, avoiding the scraping strip from being detached from the ground or jammed. When encountering ground obstacles or feed accumulation, the floating design of the pushing plate can absorb the impact force, avoiding damage to the scraping strip and the pushing plate due to excessive force. By reducing wear and impact, the floating design prolongs the service life of the scraping strip and the pushing plate and reduces maintenance costs.

[0012] In some embodiments, the pushing mechanism further comprises a universal wheel arranged on a side of the pushing plate opposite to the pushing surface, and configured to abut against and roll on the ground. The universal wheel abuts against and rolls on the ground, and the design of the universal wheel avoids direct friction between the pushing plate and the ground, so that the pushing mechanism moves more smoothly, and the scratching and wear of the ground are reduced, which is particularly suitable for scenarios with high requirements for ground protection, such as cowshed ground.

[0013] In some embodiments, the pushing plate is capable of rotating relative to the self-moving host under the driving of the adjusting arm assembly until the pushing surface of the pushing plate is arranged at a preset angle with the advancing direction of the self-moving host. The pushing plate is capable of rotating under the driving of the adjusting arm assembly, so that the pushing surface is arranged at a preset angle with the advancing direction, which can optimize the pushing angle according to the scattering distribution of the feed on the ground and the ground conditions, and ensure the maximization of the pushing effect.

[0014] In some embodiments, the adjusting arm assembly comprises a driving member arranged on the self-moving host, a first adjusting arm and a second adjusting arm arranged at a distance from each other; one end of the first adjusting arm is connected to the self-moving host, the other end of the first adjusting arm extends towards the front of the self-moving host and is arranged in a suspended manner, and is rotatably connected to one side of the pushing plate; one end of the second adjusting arm is connected to the driving member, the other end of the second adjusting arm extends towards the front of the self-moving host and is arranged in a suspended manner, and is movably connected to the other side of the pushing plate, and the second adjusting arm is capable of driving the pushing plate to rotate around the other end of the first adjusting arm under the driving of the driving member to adjust the preset angle. One end of the first adjusting arm is connected to the self-moving host, and the other end is arranged in a suspended manner and rotatably connected to one side of the pushing plate, which can serve as the fulcrum for the rotation of the pushing plate. One end of the second adjusting arm is connected to the driving member, and the other end is arranged in a suspended manner and movably connected to the other side of the pushing plate, which serves as the power source for the rotation of the pushing plate. The driving member can be an electric push rod, a hydraulic push rod, a pneumatic spring, etc., which drives the second adjusting arm to rotate the pushing plate around the first adjusting arm to adjust the angle of the pushing plate. The driving member can accurately control the movement of the second adjusting arm, so as to accurately adjust the angle of the pushing plate. The adjustable design of the angle of the pushing plate enables the device to adapt to different ground conditions and feed distribution, and ensures the maximization of the pushing effect.

[0015] In some embodiments, a limiting sliding groove is formed on the push plate, and the limiting sliding groove extends along the length direction of the push plate; the other end of the second adjusting arm is provided with a limiting sliding column, and the limiting sliding column is slidably arranged in the limiting sliding groove; the second adjusting arm can drive the limiting sliding column to slide in the limiting sliding groove under the driving of the driving member, so that the groove wall of the limiting sliding groove can drive the push plate to rotate around the other end of the first adjusting arm under the abutment of the limiting sliding column, so as to adjust the preset angle. The limiting sliding column is arranged at the other end of the second adjusting arm, and the limiting sliding groove is formed on the push plate, which is used to limit the movement range of the limiting sliding column, and the groove wall and the limiting sliding column are abutted to drive the push plate to rotate. By sliding the limiting sliding column in the limiting sliding groove, the rotation angle of the push plate can be accurately controlled, and the adjustment of the angle of the push plate can meet the actual needs.

[0016] In some embodiments, the push plate comprises a main plate and a mounting rack, one side of the main plate is provided with the push surface, the mounting rack is connected to the side of the main plate away from the push surface, the main plate is connected with the adjusting arm assembly through the mounting rack, and the limiting sliding groove is arranged on the mounting rack.

[0017] In some embodiments, the mounting rack and the main plate are detachably connected, one limiting sliding groove is formed on each of the opposite sides of the mounting rack in the height direction, the two limiting sliding grooves are symmetrically arranged, and the limiting sliding column on the second adjusting arm is connected with the limiting sliding groove away from the ground; the mounting rack is arranged to be able to be flipped to exchange the positions of the two limiting sliding grooves, and the first adjusting arm and the second adjusting arm are arranged to be able to be exchanged, so that the limiting sliding column on the second adjusting arm can be connected with the other limiting sliding groove away from the ground on the flipped mounting rack. By flipping the mounting rack, the positions of the two limiting sliding grooves are exchanged, the limiting sliding groove away from the ground becomes close to the ground, and the limiting sliding groove close to the ground becomes away from the ground. After the mounting rack is flipped by 180 degrees, the position change of the limiting sliding groove provides a basis for changing the rotation direction of the push plate. By exchanging the positions of the first adjusting arm and the second adjusting arm, the connection relationship between the limiting sliding column and the limiting sliding groove is changed. The limiting sliding column on the second adjusting arm can be connected with the other limiting sliding groove away from the ground on the flipped mounting rack, so as to change the rotation direction of the push plate. The installation operation of the push plate mounting rack and the adjusting arm is simple and fast, and the pushing direction of the push plate can be quickly switched, the change of the rotation direction of the push plate directly leads to the change of the pushing direction, the pushing direction meets the needs of different directions, and by changing the rotation direction of the push plate, the pushing robot can realize pushing in different directions and adapt to complex working environments.

[0018] In some embodiments, the push plate further comprises a support plate, and the mounting frame is provided with a mounting slot on each side in the height direction, and the support plate is detachably connected to one of the mounting slots of the mounting frame close to the ground, and the support plate is used to mount the universal wheel. It can be understood that the support plate needs to be installed in one of the mounting slots close to the ground to ensure that the universal wheel connected to the support plate can be in contact with the ground and provide support. For example, when the mounting frame is turned over by 180 degrees, the positions of the two mounting slots are transposed, and the mounting slot originally close to the ground becomes away from the ground, so the support plate needs to be reinstalled in the other mounting slot close to the ground after turning over to maintain the contact of the universal wheel with the ground.

[0019] In some embodiments, the second adjusting arm is capable of telescopic movement along the running direction of the self-moving host under the driving of the driving member, so as to drive the limiting slide column to slide in the limiting slide groove. The telescopic movement of the second adjusting arm is driven by the driving member (such as an electric push rod, a hydraulic push rod, a pneumatic spring, etc.), which can realize accurate control. The telescopic movement of the second adjusting arm can drive the limiting slide column to slide in the limiting slide groove, thereby driving the push plate to rotate around the other end of the first adjusting arm, and the amount of telescopic movement of the second adjusting arm can be flexibly and accurately controlled, so as to accurately control the rotation angle of the push plate. The user does not need to manually adjust the angle of the push plate, and the device can automatically complete the adjustment according to the actual situation, reducing the need for manual intervention, reducing labor costs, and improving the practicality of the device.

[0020] The second aspect of the present application also provides a pushing robot, comprising a self-moving host and the pushing mechanism described above.

[0021] By configuring and installing the pushing mechanism on the self-moving host to form a pushing robot, the pushing robot can replace manual work to complete the heavy pushing task and realize automatic pushing, solve the problem of difficulty in recruiting workers and high labor costs in the pasture, and at the same time avoid the problem of feed waste and decrease in the forage intake of the cattle herd caused by the delay or negligence of manual pushing. In addition, compared with the traditional pushing equipment, the pushing robot reduces the noise during work and reduces the stress reaction of the cattle herd by reasonably designing the connection mode of the push plate and the adjusting arm assembly, which is helpful to improve the health of the cattle herd and the quality of the milk.

[0022] In some embodiments, the self-moving host comprises a chassis and a counterweight arranged on the chassis. During the pushing process, the push plate may be affected by the ground resistance or the material reaction force, and the counterweight can increase the overall weight of the pushing robot, improve the stability of the device, and prevent the self-moving host from tilting or overturning during operation. The counterweight can increase the overall weight of the device, thereby increasing the pressure of the push plate on the ground, ensuring that the scraping strip is in close contact with the ground, and improving the pushing effect.

[0023] In some embodiments, the self-moving host comprises a chassis and a jacking mechanism arranged on the chassis, the jacking mechanism is connected with the adjusting arm assembly and can drive the adjusting arm assembly and the push plate connected with the adjusting arm assembly to make lifting movement. Through the lifting movement of the jacking mechanism, the height of the push plate can be adjusted to adapt to different ground conditions or material pushing requirements. On the flat ground, the jacking mechanism can adjust the height of the push plate to ensure that the push plate is in close contact with the ground, thereby improving the material pushing efficiency. When encountering ground undulations, the jacking mechanism can adjust the height of the push plate to prevent the push plate from colliding with the ground obstacles, thereby protecting the equipment.

[0024] In some embodiments, the self-moving host further comprises a visual sensor arranged on the self-moving host. The visual sensor can comprise a camera or the like device which can collect image or video data of the environment around the material pushing robot in real time. Through the collected image data, the material pushing robot can perceive the surrounding environment, identify ground obstacles, walls or other objects, and in combination with the data of the visual sensor, the material pushing robot can intelligently plan a path to avoid obstacles, thereby ensuring the safe operation of the equipment, and can also assist the material pushing robot in accurate positioning, thereby ensuring that the equipment operates according to the predetermined path in a complex environment. The collected image data can be stored and used for subsequent analysis to optimize the working process of the material pushing robot. In addition, the data of the visual sensor can also be transmitted to a remote terminal through a wireless network to realize remote monitoring and management of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, a brief introduction will be given below to the drawings needed to be used in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0026] Figure 1 A structural schematic view of the material pushing robot provided for an embodiment of the present application is shown in FIG. 1.

[0027] Figure 2 A bottom view schematic view of the material pushing robot provided for an embodiment of the present application is shown in FIG. 2.

[0028] Figure 3 A structural schematic view of the push plate provided for an embodiment of the present application is shown in FIG. 3.

[0029] Figure 4 Another structural schematic view of the push plate provided for an embodiment of the present application is shown in FIG. 4.

[0030] Figure 5 A structural schematic view of the material pushing robot provided for an embodiment of the present application is shown in FIG. 5.

[0031] Figure 6 Another bottom view schematic view of the pushing robot provided by one embodiment of the present application is shown.

[0032] Figure 7 Another structure schematic view of the pushing robot provided by one embodiment of the present application is shown.

[0033] Figure 8 An exploded schematic view of the pushing robot provided by one embodiment of the present application is shown.

[0034] Figure 9 Another exploded schematic view of the pushing robot provided by one embodiment of the present application is shown.

[0035] Reference signs:

[0036] 1, pushing robot; 10, self-moving host; 20, pushing mechanism; 100, self-moving host; 110, chassis; 120, counterweight; 130, upper shell; 140, jacking mechanism; 150, visual sensor; 200, adjusting arm assembly; 210, first adjusting arm; 220, second adjusting arm; 221, limiting slide column; 300, pushing plate; 301, main plate; 302, mounting rack; 303, supporting plate; 310, pushing surface; 320, limiting sliding groove; 330, mounting groove; 400, scraping strip; 500, universal wheel; A, preset angle; T, direction of travel. DETAILED DESCRIPTION

[0037] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many different ways other than those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0038] Please refer to Figure 1 , 2 and Figures 5 to 7 In some embodiments, the present application provides a pushing robot 1 for pushing, which comprises a self-moving host 10 and a pushing mechanism 20.

[0039] The pushing mechanism 20 can be mounted on the self-moving host 10, which comprises an adjusting arm assembly 200 and a pushing plate 300. One end of the adjusting arm assembly 200 is connected with the self-moving host 10; the pushing plate 300 is connected to the other end of the adjusting arm assembly 200 and located in front of the self-moving host 10, and the side of the pushing plate 300 facing away from the self-moving host 10 is provided with a pushing surface 310 for pushing feed, and the pushing plate 300 can rotate relative to the self-moving host 10 under the driving of the adjusting arm assembly 200 to adjust the pushing direction of the pushing plate 300.

[0040] The pushing mechanism 20 can at least achieve the following beneficial effects: The pushing plate 300 is connected with the self-moving host 10 through the adjusting arm assembly 200 and can rotate relative to the self-moving host 10 under the driving of the adjusting arm assembly 200, thereby realizing the adjustment of the inclination angle of the pushing plate 300. It can be understood that the pushing plate 300 has a certain inclination angle relative to the advancing direction T of the self-moving host, so as to be able to apply an oblique force to the feed in front. Under the joint action of friction and pushing force, the feed can be effectively pushed to the side where the pushing plate 300 is inclined, realizing efficient pushing. This design not only improves the pushing efficiency, but also avoids the problems of scattering or uneven accumulation of feed during the pushing process. This design enables the pushing robot 1 to flexibly adjust the angle of the pushing plate 300 according to actual pushing requirements, optimizes the pushing effect, and adapts to different types of feed and ground conditions.

[0041] As shown in Figures 7 to 9 In some embodiments, the pushing mechanism 20 further comprises a scraping strip 400 arranged at the bottom of the pushing plate 300 and in contact with the ground. The scraping strip 400 follows the bottom of the pushing plate 300 and can directly contact the ground, which is used to sweep the feed on the ground, ensuring that the feed on the ground is completely swept and pushed to the target position, avoiding the problem of residual or uneven accumulation of feed. The presence of the scraping strip 400 makes the pushing process more efficient and thorough, especially suitable for scenarios where the feed is not evenly distributed or the ground is uneven. The cooperation of the pushing plate 300 and the scraping strip 400 makes the pushing process more efficient and accurate, and adapts to different feed distribution and ground conditions.

[0042] In some embodiments, the scraping strip 400 can be a flexible member 400 capable of deforming in the height direction. The flexible scraping strip 400 is made of a material with elasticity and flexibility (such as rubber), which can better adapt to the ups and downs and unevenness of the ground. The flexible characteristics of the scraping strip 400 enable it to automatically adjust its shape when encountering obstacles or ground protrusions, avoiding jamming or damage, and maintaining close contact with the ground to ensure continuous and smooth effective scraping of feed on uneven ground, avoiding feed residue and ensuring that the feed is thoroughly scraped and pushed to the target location. The flexible material reduces the friction and scratching of the ground by the scraping strip 400, and is particularly suitable for scenarios with high requirements for ground protection (such as cowshed floors), and the flexible scraping strip 400 causes less compression and damage to the feed during scraping, maintaining the integrity of the feed and ensuring the quality of the cow herd's feed intake.

[0043] In some embodiments, the push plate 300 can float in the height direction relative to the adjustment arm assembly 200 to adapt the scraping strip 400 to the ground. The design of the push plate 300 floating in the height direction enables the scraping strip 400 to automatically adjust its height according to the ups and downs of the ground, and the push plate 300 can automatically adjust its height when encountering ground protrusions or depressions, avoiding the scraping strip 400 from disengaging or jamming with the ground. When encountering ground obstacles or feed accumulation, the floating design of the push plate 300 can absorb the impact force, preventing the scraping strip 400 and the push plate 300 from being damaged due to excessive force. By reducing wear and impact, the floating design prolongs the service life of the scraping strip 400 and the push plate 300, reducing maintenance costs.

[0044] Please refer to Figure 2 , Figure 6 and Figure 8 In some embodiments, the feed pushing mechanism 20 further includes a universal wheel 500 disposed on the side of the push plate 300 facing away from the pushing surface 310, which is used to abut and roll with the ground. The universal wheel 500 abuts and rolls with the ground, and the design of the universal wheel 500 avoids direct friction between the push plate 300 and the ground, making the feed pushing mechanism 20 move more smoothly and reducing scratching and wear on the ground, especially suitable for scenarios with high requirements for ground protection such as cowshed floors.

[0045] As Figure 2As shown, in some embodiments, the push plate 300 can be rotated relative to the self-moving host 10 under the driving of the adjusting arm assembly 200 until the pushing surface 310 of the push plate 300 is arranged at a preset angle A with the travel direction T of the self-moving host. The push plate 300 can be rotated under the driving of the adjusting arm assembly 200 so that the pushing surface 310 is arranged at the preset angle A with the travel direction T, which can optimize the pushing angle according to the distribution of the feed on the ground and the ground condition, and ensure the maximization of the pushing effect. In some embodiments, preferably, the preset angle A is 30° to 60°.

[0046] In some embodiments, the adjusting arm assembly 200 comprises a driving member (not shown, the same below) arranged on the self-moving host 10, a first adjusting arm 210 and a second adjusting arm 220 arranged at a distance from each other; one end of the first adjusting arm 210 is connected with the self-moving host 10, the other end of the first adjusting arm 210 extends forward of the travel direction T of the self-moving host 10 and is arranged in suspension, and is rotatably connected with one side of the push plate 300; one end of the second adjusting arm 220 is connected with the driving member, the other end of the second adjusting arm 220 extends forward of the travel direction T of the self-moving host 10 and is arranged in suspension, and is movably connected with the other side of the push plate 300, and the second adjusting arm 220 can drive the push plate 300 to rotate around the other end of the first adjusting arm 210 under the driving of the driving member to adjust the preset angle A. One end of the first adjusting arm 210 is connected with the self-moving host 10, and the other end is arranged in suspension and rotatably connected with one side of the push plate 300, which can serve as the fulcrum of the rotation of the push plate 300. One end of the second adjusting arm 220 is connected with the driving member, and the other end is arranged in suspension and movably connected with the other side of the push plate 300, which serves as the power source of the rotation of the push plate 300. The driving member can be an electric push rod, a hydraulic push rod, a hydraulic spring, etc., which drives the second adjusting arm 220 to rotate the push plate 300 around the first adjusting arm 210 to adjust the angle of the push plate 300. The driving member can accurately control the movement of the second adjusting arm 220, thereby realizing the accurate adjustment of the angle of the push plate 300. The adjustable design of the angle of the push plate 300 enables the device to adapt to different ground conditions and feed distribution, and ensures the maximization of the pushing effect.

[0047] As Figures 8 to 9As shown, in some embodiments, a limiting sliding groove 320 is formed on the push plate 300, and the limiting sliding groove 320 extends along the length direction of the push plate 300; the other end of the second adjusting arm 220 is provided with a limiting sliding column 221, and the limiting sliding column 221 is slidably arranged in the limiting sliding groove 320; the second adjusting arm 220 can drive the limiting sliding column 221 to slide in the limiting sliding groove 320 under the driving of the driving member, so that the groove wall of the limiting sliding groove 320 can drive the push plate 300 to rotate around the other end of the first adjusting arm 210 under the abutment of the limiting sliding column 221, so as to adjust the preset angle A. The limiting sliding column 221 is arranged at the other end of the second adjusting arm 220, and the limiting sliding groove 320 is formed on the push plate 300, which is used to limit the movement range of the limiting sliding column 221, and the groove wall and the limiting sliding column 221 abut to drive the push plate 300 to rotate. Through the sliding of the limiting sliding column 221 in the limiting sliding groove 320, the rotation angle of the push plate 300 can be accurately controlled, and it is ensured that the adjustment of the angle of the push plate 300 meets the actual demand.

[0048] As shown, Figures 3 to 4 In some embodiments, the push plate 300 includes a main plate 301 and a mounting frame 302, one side of the main plate 301 is provided with the push surface 310, the mounting frame 302 is connected to the side of the main plate 301 away from the push surface 310, the main plate 301 is connected with the adjusting arm assembly 200 through the mounting frame 302, and the limiting sliding groove 320 is arranged on the mounting frame 302.

[0049] As shown, Figures 3 to 4As shown, in some embodiments, the mounting frame 302 is detachably connected with the main plate 301, and the mounting frame 302 is provided with one limiting sliding groove 320 on each side in the height direction, and the two limiting sliding grooves 320 are symmetrically arranged, and the limiting sliding groove 320 away from the ground is connected with the limiting sliding column 221 on the second adjusting arm 220; the mounting frame 302 is arranged to be able to overturn to make the positions of the two limiting sliding grooves 320 opposite, and the first adjusting arm 210 and the second adjusting arm 220 are arranged to be able to be opposite, so that the limiting sliding column 221 on the second adjusting arm 220 can be connected with the other limiting sliding groove 320 away from the ground on the mounting frame 302 after overturning. By overturning the mounting frame 302, the positions of the two limiting sliding grooves 320 are opposite, the limiting sliding groove 320 away from the ground becomes close to the ground, and the limiting sliding groove 320 close to the ground becomes away from the ground. After the mounting frame 302 is overturned by 180 degrees, the position change of the limiting sliding groove 320 provides a basis for changing the rotation direction of the push plate 300. Then, by adjusting the positions of the first adjusting arm 210 and the second adjusting arm 220, the connection relationship between the limiting sliding column 221 and the limiting sliding groove 320 is changed. The limiting sliding column 221 on the second adjusting arm 220 can be connected with the other limiting sliding groove 320 away from the ground on the mounting frame 302 after overturning, so as to change the rotation direction of the push plate 300. The overturning operation of the mounting frame 302 and the opposite installation operation of the first adjusting arm 210 and the second adjusting arm 220 are simple and fast, and the pushing direction of the push plate 300 can be quickly switched, such as Figure 1 、 Figure 2 、 Figure 5 and Figure 6 As shown, the change of the rotation direction of the push plate 300 directly leads to the change of the pushing direction, so as to meet the pushing demand in different directions, and by changing the rotation direction of the push plate 300, the pushing robot can realize pushing in different directions and adapt to different working environments.

[0050] As shown in Figures 3 to 4As shown, in some embodiments, the push plate 300 further comprises a support plate 303, and the mounting frame 302 is provided with a mounting slot 330 on each side in the height direction, and the support plate 303 is detachably connected to one of the mounting slots 330 of the mounting frame 302 close to the ground, and the support plate 303 is used to install the universal wheel 500. It can be understood that the support plate 303 needs to be installed in one of the mounting slots 330 close to the ground to ensure that the universal wheel 500 connected with the support plate 303 can be in contact with the ground and provide support. For example, when the mounting frame 302 is turned over by 180 degrees, the positions of the two mounting slots 330 are transposed, and the mounting slot 330 originally close to the ground becomes away from the ground, so the support plate 303 needs to be reinstalled in the other mounting slot 330 close to the ground after turning over to maintain the contact of the universal wheel 500 with the ground.

[0051] In some embodiments, the second adjusting arm 220 can be driven by the driving member to make telescopic movement along the travel direction T of the self-moving host 10, so that the limiting slide column 221 slides in the limiting slide groove 320. The telescopic movement of the second adjusting arm 220 is driven by the driving member (such as an electric push rod, a hydraulic push rod, a pneumatic spring, etc.), which can realize accurate control. The telescopic movement of the second adjusting arm 220 can drive the limiting slide column 221 to slide in the limiting slide groove 320, thereby driving the push plate 300 to rotate around the other end of the first adjusting arm 210. The amount of telescopic movement of the second adjusting arm 220 can be flexibly and accurately controlled, so as to accurately control the rotation angle of the push plate 300. The user does not need to manually adjust the angle of the push plate 300, and the device can automatically complete the adjustment according to the actual situation, reducing the need for manual intervention, reducing labor costs, and improving the practicality of the device.

[0052] Based on the above-described push material mechanism 20, as shown in Figure 1 or Figure 5 The application also provides a push material robot 1, which comprises a self-moving host 10 and the push material mechanism 20 of any of the above-described embodiments. It can be understood that the above-described self-moving host 10 is configured as a robot that can move autonomously, which generally comprises a control system, a sensor system, a driving system, a power supply and charging system, etc. which are not indicated in the drawings. The control system is used to process and control the device to perform specific tasks or actions according to a predetermined program or signals returned by the sensor system. The sensor system is used to sense the working state information of each component of the device, the external environment state information of the device, and the position information of the device in the environment and send them to the control system. The driving system is used to drive the driving wheel to drive the robot to move on the working surface. The power supply and charging system provides energy source for each system of the device. These systems are not the focus of improvement of the present application, so they are not introduced in detail in the technical solutions of each embodiment of the present application.

[0053] By configuring and installing a feeding mechanism 20 on the self-moving host 10 to form a feeding robot 1, the feeding robot 1 can replace manual labor to complete heavy feeding tasks and achieve automated feeding, solving the problems of difficulty in recruiting workers and high labor costs in farms. At the same time, it avoids feed waste and decreased feed intake in cattle caused by untimely or negligent manual feeding. In addition, compared with traditional feeding equipment, the feeding robot 1 reduces noise during operation and reduces stress on cattle by rationally designing the connection method between the pushing plate 300 and the adjusting arm 200 assembly, which helps to improve the health of cattle and the quality of milk production.

[0054] In some of these implementations, such as Figures 8 to 9 As shown, the self-moving host 10 includes a chassis 110, a counterweight 120 mounted on the chassis 110, and an upper shell 130 covering the counterweight 120. During the material pushing process, the push plate 300 may be affected by ground resistance or material reaction force. The counterweight 120 can increase the overall weight of the pushing mechanism 20, improve the stability of the equipment, and prevent the pushing robot 1 from tilting or tipping over during operation. The counterweight 120 can increase the overall weight of the equipment, thereby increasing the pressure of the push plate 300 on the ground, ensuring that the scraper 400 is in close contact with the ground, and improving the pushing effect.

[0055] In some of these implementations, such as Figures 8 to 9 As shown, the self-moving host 10 includes a chassis 110 and a lifting mechanism 140 mounted on the chassis 110. The lifting mechanism 140 is connected to the adjusting arm assembly 200 and can drive the adjusting arm assembly 200 and the push plate 300 connected to the adjusting arm assembly 200 to perform lifting and lowering movements. Through the lifting and lowering movement of the lifting mechanism 140, the height of the push plate 300 can be adjusted to adapt to different ground conditions or material pushing requirements. On flat ground, the lifting mechanism 140 can adjust the height of the push plate 300 to ensure close contact between the push plate 300 and the ground, improving material pushing efficiency. When encountering uneven ground, the lifting mechanism 140 can adjust the height of the push plate 300 to prevent the push plate 300 from colliding with ground obstacles, protecting the equipment.

[0056] In some of these implementations, such as Figure 9As shown, the pushing robot 1 further comprises a visual sensor 150 arranged on the self-moving host 10. The visual sensor 150 can comprise a camera or the like device capable of collecting image or video data of the environment around the pushing robot 1 in real time. Through the collected image data, the pushing robot 1 can perceive the surrounding environment, identify ground obstacles, walls or other objects, and in combination with the data of the visual sensor 150, the pushing robot 1 can intelligently plan a path, avoid obstacles, ensure safe operation of the equipment, and also assist the pushing robot 1 in accurate positioning, ensuring that the equipment operates according to the predetermined path in a complex environment. The collected image data can be stored and used for subsequent analysis to optimize the workflow of the pushing robot 1. In addition, the data of the visual sensor 150 can also be transmitted to a remote terminal through a wireless network to realize remote monitoring and management of the equipment.

[0057] Any combination of the technical features in the above-described embodiments can be made, and in order to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the description.

[0058] The above-described embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it should not be understood as a limitation on the patent application scope. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

[0059] In the description of the present application, it should be understood that if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0060] In addition, if there are these terms "first", "second", these terms are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one feature. In the description of the present application, if there are terms "a plurality of", the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0061] In the present application, unless otherwise specifically defined and limited, if there are terms "installation", "connection", "connection", "fixing" and the like, these terms should be understood in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; 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; it can be the communication between two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0062] In the present application, unless otherwise specifically defined and limited, if there are similar descriptions such as "first feature on" or "below" the second feature, the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be the first feature directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be the first feature directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0063] It should be noted that if an element is referred to as "fixed to" or "provided on" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If there is, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are only for the purpose of illustration, and do not indicate the only implementation.

[0064] In the description of the present specification, the description referring to the terms "one embodiment", "other embodiments", and the like means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are used only for the purpose of describing specific embodiments and are not intended to limit the present application.

Claims

1. A pushing mechanism capable of being installed on a self-moving host for pushing materials, characterized in that, The application relates to a pushing mechanism for a self-moving host. The pushing mechanism comprises: an adjusting arm assembly, one end of which is connected with the self-moving host; and 2. The pusher mechanism of claim 1, wherein, a pushing plate, which is connected with the other end of the adjusting arm assembly and located in front of the self-moving host, one side of the pushing plate, which faces away from the self-moving host, is provided with a pushing surface for pushing materials, and the pushing plate can rotate relative to the self-moving host under the driving of the adjusting arm assembly to adjust the pushing direction of the pushing plate.

3. The pusher mechanism of claim 2, wherein, The pushing mechanism further comprises a scraping strip, which is arranged on the bottom of the pushing plate and contacts the ground.

4. The pusher mechanism of claim 1, wherein, The scraping strip is configured as a flexible member capable of deforming in the height direction; and / or the pushing plate can float relative to the adjusting arm assembly in the height direction to adapt the scraping strip to the ground.

5. The pusher mechanism according to any one of claims 1 to 4, characterized in that, The pushing mechanism further comprises a universal wheel, which is arranged on the side of the pushing plate, which faces away from the pushing surface, and is used for abutting and rolling on the ground.

6. The pusher mechanism of claim 5, wherein, The pushing plate can rotate relative to the self-moving host under the driving of the adjusting arm assembly until the pushing surface of the pushing plate is arranged at a preset included angle with the advancing direction of the self-moving host. The adjusting arm assembly comprises a driving member arranged on the self-moving host, a first adjusting arm and a second adjusting arm arranged at a distance from each other; one end of the first adjusting arm is connected with the self-moving host, the other end of the first adjusting arm extends towards the front of the self-moving host and is arranged in a suspended manner, and is rotationally connected with one side of the pushing plate; 7. The pusher mechanism of claim 6, wherein, one end of the second adjusting arm is connected with the driving member, the other end of the second adjusting arm extends towards the front of the self-moving host and is arranged in a suspended manner, and is movably connected with the other side of the pushing plate, and the second adjusting arm can drive the pushing plate to rotate around the other end of the first adjusting arm under the driving of the driving member to adjust the preset angle.

8. The pusher mechanism of claim 7, wherein, A limiting sliding groove is arranged on the pushing plate and extends along the length direction of the pushing plate; the other end of the second adjusting arm is provided with a limiting sliding column, which is slidably arranged in the limiting sliding groove; the second adjusting arm can drive the limiting sliding column to slide in the limiting sliding groove under the driving of the driving member, so that the groove wall of the limiting sliding groove can drive the pushing plate to rotate around the other end of the first adjusting arm under the abutment of the limiting sliding column to adjust the preset angle. The pushing plate comprises a main plate and a mounting rack, one side of the main plate is provided with the pushing surface, the mounting rack is connected with the side of the main plate, which faces away from the pushing surface, the main plate is connected with the adjusting arm assembly through the mounting rack, and the limiting sliding groove is arranged on the mounting rack.

9. The pusher mechanism of claim 8, wherein, The mounting frame is detachably connected with the main plate, two limiting sliding grooves are symmetrically arranged on the opposite sides of the mounting frame in the height direction, one of the limiting sliding grooves away from the ground is connected with the limiting sliding column on the second adjusting arm; the mounting frame is arranged to be able to overturn to make the positions of the two limiting sliding grooves be exchanged, the first adjusting arm and the second adjusting arm are arranged to be able to be exchanged, and the limiting sliding column on the second adjusting arm can be connected with the other limiting sliding groove away from the ground on the mounting frame after the mounting frame is overturned.

10. The pusher mechanism of claim 8, wherein, The push plate further comprises a support plate, the mounting frame is provided with one mounting groove on each of the opposite sides in the height direction, and the support plate is detachably connected in one of the mounting grooves of the mounting frame close to the ground, and the support plate is used for mounting universal wheels.

11. The pushing mechanism of claim 7, wherein, The second adjusting arm is capable of telescopic movement along the running direction of the self-moving host under the driving of the driving member, so that the limiting sliding column slides in the limiting sliding groove.

12. A pusher robot, characterized in that Comprise: A self-moving host; And The pushing mechanism according to any one of claims 1 to 11.

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