Pushing robot

Abstract

A material pushing robot comprises a material pushing shell, a walking device, a rotating device and a lifting device. The walking device drives the material pushing robot to move, the rotating device drives the material pushing shell to rotate in a belt transmission mode, the lower portion of the material pushing shell is provided with a flexible strip making contact with the ground, and the material pushing shell conducts material pushing work in a rotating mode. On the other hand, the structure is simple, maintenance is convenient, and maintenance cost is reduced; and the lifting device with a simple structure drives the material pushing shell to move up and down, so that the robot moves more conveniently and freely when not carrying out material pushing work, and unnecessary energy consumption is reduced.

Description

Technical fields:

[0001] This utility model relates to the technical field of dairy cow feeding equipment, and in particular to a feed pushing robot. Background technology:

[0002] With the rapid development of cattle and sheep farming in my country, the technology of cattle and sheep farming is becoming more centralized and large-scale. Farms use total mixed ration (TMR) feeding technology, which ensures uniform feeding for cattle and sheep. However, during feeding, cattle and sheep often push feed out of the feeding area. Feed outside the designated feeding area is inaccessible to them. If the feed is not promptly pushed back into the feeding area, it will not only waste feed but also affect the feed intake rate and lead to nutritional imbalances due to incomplete feeding. Therefore, farms need to use feed-pushing machinery to move feed out of the feeding area back into the designated feeding area.

[0003] Existing self-rotating pusher robots use a multi-gear mechanism to control the rollers for pushing materials. This method has a complex mechanical structure and high manufacturing cost. The equipment itself is heavy, energy-consuming, and not conducive to movement. The complex structure also leads to a high failure rate, resulting in high maintenance costs.

[0004] Some pusher robots have a fixed height and cannot be raised or lowered. These robots need to be moved to different work sites, resulting in excessive friction between their bottom and the ground, increasing both material consumption and energy consumption. Other pusher robots can adjust their posture, but these have more complex structures, are larger in size, and move slowly. Utility model content:

[0005] Therefore, it is necessary to design a pushing robot that can perform the pushing work while having a simple structure, light weight, easy transfer and low energy consumption, easy maintenance, and can also drive the shell to lift up, so that the shell can be lifted during the movement process when pushing is not required, thus reducing friction.

[0006] A material pushing robot includes: a material pushing shell, a walking device, a rotating device, and a lifting device; the walking device drives the material pushing robot to move, the rotating device drives the material pushing shell to rotate, and the lifting device drives the material pushing shell to move up and down.

[0007] The pusher housing includes a top cover, a roller support, and a flexible strip; the barrel-shaped roller support has an open end facing the ground, and a flexible strip is provided at the open end; the top cover is separate from the roller support and is located above the roller support.

[0008] The walking device includes a chassis and a drive unit; the drive unit under the chassis drives the pushing robot to move.

[0009] The lifting device includes a fixed plate, a movable plate, an electric push rod, a rail, and a slider. A fixed plate is installed above the chassis, and a movable plate is installed above the fixed plate. The chassis, fixed plate, and movable plate are parallel to each other. The rail is perpendicular to the chassis. One end of the rail is fixedly connected to the chassis, and the other end of the rail passes through the fixed plate and then through the movable plate. The fixed plate is fixedly connected to the rail. The electric push rod is fixedly installed on the fixed plate, and its other movable end is connected to the movable plate. The slider is installed on the rail and is slidably connected to the rail. The slider is fixedly connected to the movable plate. The electric push rod pushes the movable plate to drive the slider to rise and fall along the rail.

[0010] The rotating device includes a shaft fixing flange, a main shaft, a driven wheel, a driving wheel, a belt, and a drive motor. The shaft fixing flange is fixedly installed on the moving plate and on the top cover. The main shaft is keyed to the two shaft fixing flanges. The driven wheel is installed on the main shaft. The drive motor is mounted on the moving plate and connected to the driving wheel. The driving wheel and the driven wheel are connected by belt drive. The upper side of the driven wheel is fixedly connected to the roller support. The drive motor drives the driving wheel, which in turn drives the driven wheel to rotate via the belt. The driven wheel then drives the roller support to rotate.

[0011] Preferably, it also includes a stabilizing device, which includes stabilizing wheels and a stabilizing frame. The stabilizing wheels are distributed on the movable plate, and the annular stabilizing frame is fixed inside the roller support. The stabilizing frame is parallel to the movable plate, and the stabilizing wheels are in contact with the stabilizing frame. When the stabilizing frame rotates with the roller support, it drives the stabilizing wheels to rotate.

[0012] Preferably, it also includes a control device, which includes a control system, a display mounted on the top cover, and a 3D LiDAR. The control system is electrically connected to the drive device, the drive motor, the electric push rod, the display, and the 3D LiDAR.

[0013] Preferably, the driving device includes an encoder, a walking motor, a reducer, a coupling, and a walking wheel; the encoder is electrically connected to the walking motor, the walking motor is connected to the coupling through the reducer, and the other end of the coupling is connected to the walking wheel, that is, the walking motor drives the walking wheel to rotate and walk; one walking wheel is matched with one walking motor.

[0014] Preferably, the drive device further includes casters, with two wheels located on both sides of the chassis, and the two wheels and the casters arranged in a triangle.

[0015] Preferably, it also includes a power supply device, which includes a battery and a charging electrode. The battery is electrically connected to the charging electrode, the battery is disposed between the base plate and the fixing plate, and the charging electrode is disposed on the side of the top cover.

[0016] Preferably, the lifting device has four rails and two electric push rods, with the electric push rods positioned between the two rails and arranged symmetrically.

[0017] Preferably, the flexible strip is made of a brush-shaped rubber sheet, and the flexible strip surrounds the roller support at least once.

[0018] Preferably, the roller support is a frustum-shaped structure, smaller at the top and larger at the bottom.

[0019] Preferably, the top cover covers the upper part of the roller support and does not contact the roller support, and the top cover partially overlaps with the roller support.

[0020] This solution allows the robot to lift its outer shell, enabling the flexible strip to leave the ground when the robot is not pushing materials, making it easier and more agile, and reducing unnecessary energy consumption.

[0021] The proposed solution features a simplified design for the pusher robot, which connects the pulleys and rollers. This design facilitates weight reduction, reduces manufacturing costs due to its simple structure, and also makes maintenance easier and reduces maintenance costs.

[0022] This solution features a lightweight design for its material-pushing robot, making it more flexible and mobile, allowing it to move easily across various terrains. The lighter weight requires less power, thus reducing energy consumption, improving energy efficiency, extending battery life, and decreasing the frequency and cost of battery replacements. For ranches that frequently change work areas, the lightweight robot is easier to transport to different locations, reducing workload due to its ease of transport and deployment. Furthermore, even if the lightweight robot collides with animals, it will not cause serious injury, minimizing disturbance or fright, improving the safety of the working environment, and maintaining a harmonious ranch environment. Attached image description:

[0023] Appendix Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of a material-pushing robot.

[0024] Appendix Figure 2 This is a side view of a preferred embodiment of the pusher robot with some structural elements omitted.

[0025] Appendix Figure 3 This is a schematic diagram of the internal structure of a preferred embodiment of the pushing robot after omitting the pushing shell. (Attached) Figure 4 This is a schematic diagram of the pusher robot in a preferred embodiment, with some parts omitted, viewed from below.

[0026] In the diagram: 10 pusher housing, 11 top cover, 12 roller support, 13 flexible strip, 20 walking device, 21 chassis, 22 drive device, 220 encoder, 221 walking motor, 222 reducer, 223 coupling, 224 walking wheel, 225 caster wheel, 30 rotating device, 31 shaft fixing flange, 32 main shaft, 33 driven wheel, 34 driving wheel, 35 belt, 36 drive motor, 40 lifting device, 41 fixed plate, 42 moving plate, 43 electric push rod, 44 track, 45 slider, 50 stabilizing device, 51 stabilizing wheel, 52 stabilizing frame, 60 control device, 61 display, 62 three-dimensional laser radar, 70 power supply device, 71 battery, 72 charging electrode. Detailed implementation method:

[0027] The term "front" in this patent refers to the direction in which the pushing robot moves forward.

[0028] A material-pushing robot includes: a material-pushing shell 10, a walking device 20, a rotating device 30, a lifting device 40, a stabilizing device 50, a control device 60, and a power supply device 70. The power supply device 70 provides power to the material-pushing robot, the control device 60 controls the robot's movements, the walking device 20 drives the robot to move, the rotating device 30 rotates the material-pushing shell 10, the stabilizing device 50 supports and stabilizes the rotation of the material-pushing shell 10, and the lifting device 40 moves the material-pushing shell 10 up and down.

[0029] The pusher housing 10 includes a top cover 11, a roller support 12, and a flexible strip 13. The roller support 12, which is open at one end, is a frustum-shaped structure, wider at the bottom than the top, with the open end facing the ground. A flexible strip 13, made of brush-shaped rubber, is arranged around the open end of the roller support 12 at least once. The top cover 11 covers the upper part of the roller support 12 but does not contact it. The top cover 11 and the roller support 12 partially overlap, so that there is no gap between the top cover 11 and the roller support 12 in the horizontal direction. The display 61 and the three-dimensional laser radar 62 in the control device 60 are mounted on the top cover 11, and the charging electrode 72 of the power supply device 70 is provided on the side of the top cover 11. The rotating device 30 drives the pusher housing 10 to rotate, while the top cover 11 does not rotate. The flexible strip 13 contacts the ground and rotates, thereby completing the pushing action.

[0030] The walking device 20 includes a chassis 21 and a drive unit 22. The drive unit 22 includes an encoder 220, a walking motor 221, a reducer 222, a coupling 223, walking wheels 224, and casters 225. The encoder 220 is electrically connected to the walking motor 221. The walking motor 221 is connected to the coupling 223 via the reducer 222. The other end of the coupling 223 is connected to the walking wheel 224, meaning the walking motor 221 drives the walking wheel 224 to rotate and move. Specifically, two walking wheels 224 are located on both sides of the chassis 21, arranged in a triangle with the front casters 225. Each walking wheel 224 is matched with a corresponding walking motor 221. By controlling the speed of the two walking wheels 224, the robot can move forward, backward, and turn. The walking device 20 has a simplified structure, is lightweight, and moves flexibly.

[0031] The lifting device 40 includes a fixed plate 41, a movable plate 42, an electric push rod 43, a track 44, and a slider 45. The fixed plate 41 is positioned above the chassis 21, and the movable plate 42 is positioned above the fixed plate 41. The chassis 21, fixed plate 41, and movable plate 42 are parallel. The track 44 is perpendicular to the chassis 21, with one end fixedly connected to the chassis 21 and the other end passing through the fixed plate 41 and then through the movable plate 42. The fixed plate 41 is fixedly connected to the track 44. The electric push rod 43 is mounted on the fixed plate 41, with its other end connected to the movable plate 42. The slider 45 is mounted on the track 44, slidably connected to the track 44, and fixedly connected to the movable plate 42. The electric push rod 43 pushes the movable plate 42, and the slider 45 moves up and down along the track 44. Specifically, the four tracks 44 are the four vertices of a quadrilateral, with the electric push rod 43 positioned between the front and rear tracks 44, and two electric push rods 43 symmetrically positioned on either side. The electric push rod 43 extends and retracts simultaneously, driving the pusher housing 10 to move up and down, allowing the flexible strip 13 to contact or leave the ground. The lifting device 40 has a simplified structure and is lightweight overall. The track 44 serves both as support and guidance, achieving two goals at once and saving on structural costs. The electric push rod 43 drives the moving plate 42 to move up and down as a whole, ensuring a stable lifting process.

[0032] The rotating device 30 includes a shaft fixing flange 31, a main shaft 32, a driven wheel 33, a driving wheel 34, a belt 35, and a drive motor 36. The shaft fixing flange 31 is fixedly mounted on the moving plate 42 and the top cover 11. The main shaft 32 is keyed to both shaft fixing flanges 31. The driven wheel 33 is mounted on a bearing on the main shaft 32. The drive motor 36 is mounted on the moving plate 42 and connected to the driving wheel 34. The driving wheel 34 and the driven wheel 33 are connected by a belt 35. The upper side of the driven wheel 33 is fixedly connected to the roller support 12. The drive motor 36 drives the driving wheel 34, and the belt 35 drives the driven wheel 33 to rotate. The main shaft 32 remains stationary; only the driven wheel 33 drives the roller support 12 to rotate. During the feeding operation, the flexible strip 13 contacts the ground and rotates, pushing the feed back to the feeding area. The rotating device 30 has a simple structure, is lightweight, and low in cost, making it easy to install and maintain.

[0033] The stabilizing device 50 includes stabilizing wheels 51 and a stabilizing frame 52. The stabilizing wheels 51 are distributed on the movable plate 42, and the annular stabilizing frame 52 is fixed inside the roller support 12. The stabilizing frame 52 is parallel to the movable plate 42, and the stabilizing wheels 51 and the stabilizing frame 52 are in rolling contact. As the roller support 12 rotates, the stabilizing frame 52 drives the stabilizing wheels 51 to rotate. The stabilizing wheels 51 serve to support the roller support 12 and also make the rotation of the rotating roller support 12 more stable. Although the stabilizing device 50 has a simple structure, it is highly effective. By using a sliding support method, it makes the rotation smoother and also reduces the burden on the drive motor 36, thus reducing energy consumption.

[0034] The power supply unit 70 includes a battery 71 and a charging electrode 72. The battery 71 is electrically connected to the charging electrode 72, which charges the battery 71. The battery 71 is positioned between the base plate and the fixed plate 41, while the charging electrode 72 is located on the side of the top cover 11. The pushing robot brings the charging electrode 72 close to the charging pile to complete the charging process. Specifically, the battery 71 is connected to the drive device 22, the electric push rod 43, the drive motor 36, and the control device 60, providing power to these components of the pushing robot. The battery 71 is installed at the bottom, lowering the overall center of gravity and making movement more stable. The charging electrode 72 is located at the top for easy charging. The system is equipped with an autonomous charging function, enabling fully automatic, unmanned charging.

[0035] The control device 60 includes a control system, a display 61 mounted on the top cover 11, and a 3D LiDAR 62. The control system is connected to the power supply device 70 for power supply, and is also connected to the power supply device 70, drive device 22, drive motor 36, electric push rod 43, display 61, and 3D LiDAR 62 for signal transmission. Specifically, the control system receives power information from the power supply device 70 and controls the pusher robot to move to the charging station for charging; the control system controls the speed of the two walking wheels 224 to achieve movement in any direction; the control system controls the extension and retraction of the electric push rod 43 to achieve the up and down movement of the roller support 12; the control system controls the rotation of the drive motor 36 to digitally display the rotation of the roller support 12; the control system moves along a set route or stops to avoid obstacles based on the information fed back by the 3D LiDAR 62; the operation display panel of the control system is the display 61, which realizes function control.

[0036] Existing feed-pushing robots require the installation of tracks 44 on the farm floor, necessitating secondary modifications to the farm, which is time-consuming, labor-intensive, and inconvenient. Furthermore, the ground is not a single, continuous surface, creating blind spots and gaps. This solution uses a 3D LiDAR 62 to perceive and detect the surrounding environment, constructing a map to achieve autonomous navigation. This significantly improves the robot's autonomous working capabilities, reduces farm labor costs, and enables the feed-pushing robot to navigate autonomously with fast response times and long continuous operating times. Simultaneously, the 3D LiDAR 62 can monitor the feeding area in real time, enabling 24 / 7 continuous operation, promptly pushing feed back to the feeding area, improving cow feed intake, and increasing dairy production.

[0037] This solution also features a human-machine interface platform, which can connect to the control system via the internet, mobile app, and other applications. This allows for convenient and real-time monitoring of the feed-pushing robot's status, tracking of cows' feeding, and remote monitoring and control of the robot. The accumulated monitoring data helps identify farm problems and allows for adjustments based on different situations, providing a basis for farm decision-making.

[0038] In actual operation, the feeding robot completes charging at the charging station. At this time, the feeding outer shell 10 is in a raised state, meaning the flexible strip 13 is a certain distance off the ground. After receiving the work program, the feeding robot uses the 3D LiDAR 62 to determine its position and controls the drive wheels to move to one side of the feeding area. After reaching the set position, it controls the electric push rod 43 to shorten until the flexible strip 13 touches the ground, and starts the drive motor 36, causing the roller support 12 to rotate towards the feeding area, pushing the feed into the feeding area. The feeding robot moves along the set work route, and the flexible strip 13 pushes the feed outside the feeding area back into the feeding area. When it reaches the other side of the feeding area, it stops the drive wheels, then stops the drive motor 36, that is, stops the rotation of the roller support 12. Then it controls the electric push rod 43 to extend until the flexible strip 13 is a certain distance off the ground, completing this work program. Alternatively, it can proceed to the next work program, or reach the monitoring position on one side of the feeding area to monitor the feeding area, or control the drive wheels to move to the charging station to stand by or charge. If the 3D LiDAR 62 detects an obstacle within 30 centimeters in the direction of travel, the pushing robot will stop moving and wait for the obstacle to leave. If it is forced to stop after a set time, an alarm message will be issued.

[0039] The feeding robot is lightweight, with a simple mechanical structure, facilitating maintenance and reducing manufacturing costs. When not pushing materials, it reduces ground friction, significantly lowering energy consumption and extending battery life. The robot is also lightweight and moves autonomously, making it easy to transport and move. Equipped with an intelligent control system, it allows for remote monitoring, programmed or remote control of the feeding operation, autonomous charging, and autonomous navigation, saving labor costs and enabling continuous 24 / 7 operation. This improves cow feed intake, increases dairy production, and contributes to a smart farm.

Claims

1. A material pushing robot, characterized in that, include: Material pusher housing, walking device, rotating device, lifting device; The walking device drives the pushing robot to move, the rotating device drives the pushing shell to rotate, and the lifting device drives the pushing shell to move up and down. The pusher housing includes a top cover, a roller support, and a flexible strip; the barrel-shaped roller support has an open end facing the ground, and a flexible strip is provided at the open end; the top cover is separate from the roller support and is located above the roller support. The walking device includes a chassis and a drive unit; the drive unit under the chassis drives the pushing robot to move. The lifting device includes a fixed plate, a movable plate, an electric push rod, a track, and a slider. A fixed plate is installed above the chassis, and a movable plate is installed above the fixed plate. The chassis, fixed plate, and movable plate are parallel to each other. The track is perpendicular to the chassis, with one end connected to the chassis and the other end passing through the fixed plate and then through the movable plate. The fixed plate is fixedly connected to the track. The electric push rod is installed on the fixed plate, and its other end is connected to the movable plate. The slider is slidably connected to the track and fixedly connected to the movable plate. The electric push rod pushes the movable plate, causing the slider to rise and fall along the track. The rotating device includes a shaft fixing flange, a main shaft, a driven wheel, a driving wheel, a belt, and a drive motor. A shaft fixing flange is mounted on the moving plate and on the top cover. The main shaft is keyed to both shaft fixing flanges. The driven wheel is mounted on the main shaft. The drive motor is mounted on the moving plate and connected to the driving wheel. The driving wheel and driven wheel are connected by a belt drive. The upper side of the driven wheel is fixedly connected to the roller support. The drive motor drives the driving wheel, which in turn drives the driven wheel to rotate via the belt. The driven wheel then drives the roller support to rotate.

2. The material pushing robot as described in claim 1, characterized in that, It also includes a stabilizing device, which includes stabilizing wheels and a stabilizing frame. The stabilizing wheels are distributed on the movable plate, and the annular stabilizing frame is fixed inside the roller support. The stabilizing frame is parallel to the movable plate, and the stabilizing wheels are in contact with the stabilizing frame. The stabilizing frame drives the stabilizing wheels to rotate as the roller support rotates.

3. The material pushing robot as described in claim 1, characterized in that, It also includes a control device, which includes a control system, a display mounted on the top cover, and a 3D LiDAR. The control system is electrically connected to the drive device, drive motor, electric push rod, display, and 3D LiDAR.

4. The material pushing robot as described in claim 1, characterized in that, The driving device includes an encoder, a walking motor, a reducer, a coupling, and walking wheels; the encoder is electrically connected to the walking motor, the walking motor is connected to the coupling through the reducer, and the other end of the coupling is connected to the walking wheel, that is, the walking motor drives the walking wheel to rotate and walk; one walking wheel is matched with one walking motor.

5. The material pushing robot as described in claim 4, characterized in that, The drive device also includes casters, with two wheels located on both sides of the chassis, and the two wheels and the casters arranged in a triangle.

6. The material pushing robot as described in claim 1, characterized in that, It also includes a power supply device, which includes a battery and a charging electrode. The battery and the charging electrode are electrically connected. The battery is located between the base plate and the fixing plate, and the charging electrode is located on the side of the top cover.

7. The material pushing robot as described in claim 1, characterized in that, The lifting device has four rails and two electric push rods. The electric push rods are arranged between the two rails and are symmetrically arranged.

8. The material pushing robot as described in claim 1, characterized in that, The flexible strip is made of a brush-shaped rubber sheet and wraps around the roller support at least once.

9. The material pushing robot as described in claim 1, characterized in that, The roller support is a frustum-shaped structure, smaller at the top and larger at the bottom.

10. The material pushing robot as described in claim 1, characterized in that, The top cover covers the upper part of the roller support but does not contact the roller support; the top cover partially overlaps with the roller support.

Images