Rail type robot walking device and automatic feeding robot

Abstract

The utility model relates to track robot technical field discloses a track robot walking device and automatic feeding robot, including walking mechanism, walking mechanism cooperation installation on the track of cross section is I -shaped, and walking mechanism includes box, drive mechanism, guide mechanism, power supply, drive mechanism includes drive module, driving wheel and driven wheel, and drive module is located in the box, and drive module transmission connection driving wheel, and driving wheel is located track both sides respectively with driven wheel and carries out the clamping to track, and power supply is connected with drive module electrically, and drive module provides electric energy, guide mechanism rotatory connection is in the box top, and guide mechanism is equipped with two, and is separately located drive mechanism front and back two sides, and guide mechanism and track contact cooperation, and the movement track of drive mechanism is guided. The utility model is compact in space, light in weight, and stable in operation, drive mechanism, guide mechanism modular design, and the versatility is strong, and the maintenance and maintenance are convenient.

Description

Technical Field

[0001] This utility model relates to the field of track robot technology, specifically to a track-type robot walking device and an automatic feeding robot. Background Technology

[0002] The feeding of feed in factory-scale aquaculture faces problems such as high labor intensity and inaccurate feeding amounts compared to traditional aquaculture. Some factories have also installed automatic feeders in the aquaculture ponds to achieve timed and quantitative feeding. However, automatic feeders can only cover the pond in which they are located, resulting in limited coverage and low utilization. For large-scale factory-scale aquaculture bases, multiple automatic feeders need to be deployed, leading to high initial investment and subsequent maintenance costs.

[0003] Suspended track robots are automated devices that mount actuators on ceiling track systems, freeing up ground space and covering long-distance, large-span work areas. They are widely used in various industrial scenarios, such as tunnels, logistics warehouses, and large factory production lines, and are especially suitable for scenarios that require continuous movement or transportation along the production line.

[0004] Using a track-mounted robot for automated feeding can solve the problems of high labor intensity and limited coverage associated with manual feeding and fixed-point feeders in existing technologies. However, track-mounted robots typically need to suspend more than 50 kg of feed at a time, and the remaining weight gradually decreases as feed is added during operation. This requires the walking device to have excellent adaptive capabilities to avoid deviating from the track center or excessive swaying, ensuring stable operation. Based on this, this application proposes a track-mounted robot walking device and an automated feeding robot suitable for factory-scale aquaculture. Utility Model Content

[0005] To address the shortcomings of the existing technology, this utility model provides a track-type robot walking device and an automatic feeding robot, which are suitable for aquaculture in factory workshops, operate smoothly, and can achieve automatic, efficient, and precise feed delivery.

[0006] To achieve the above-mentioned technical objectives, the technical solution adopted by this utility model is as follows:

[0007] In a first aspect, this application provides a track-type robot walking device, including a walking mechanism. The walking mechanism is installed on an I-shaped track. The walking mechanism includes a housing, a drive mechanism, a guide mechanism, and a power supply. The drive mechanism includes a drive module, a drive wheel, and a driven wheel. The drive module is located inside the housing and is connected to the drive wheel. The drive wheel and the driven wheel are located on both sides of the track to clamp the track. The power supply is electrically connected to the drive module to provide power to the drive module. The guide mechanism is rotatably connected to the top of the housing. There are two guide mechanisms, located on the front and rear sides of the drive mechanism. The guide mechanisms contact and cooperate with the track to guide the movement trajectory of the drive mechanism.

[0008] As a preferred technical solution, the drive mechanism is provided with a spring damping module, through which the driving wheel and the driven wheel are provided with a preload force to clamp the track.

[0009] As a preferred technical solution, the driving mechanism includes a mounting plate disposed inside the housing. A linear guide rail is provided between the mounting plate and the top plate of the housing. A spring damping module is provided between the mounting plate and one side wall of the housing. Under the action of the spring damping module, the mounting plate floats relative to the top plate along the linear guide rail. The driving module includes a geared motor, which is installed at the lower part of the mounting plate. The geared motor is connected to the drive wheel through a drive shaft. The top plate is provided with a racetrack-shaped floating hole, and the drive shaft extends out of the housing through the floating hole. The driven wheel is rotatably connected to a base mounted on the top plate through a driven wheel shaft.

[0010] As a preferred technical solution, the spring damping module includes a compression spring and a damping rod. The compression spring is sleeved on the damping rod. One end of the damping rod is fixedly connected to the side wall of the housing, and the other end is fixedly connected to the mounting plate through an L-shaped adapter bracket A. It also includes an L-shaped adapter bracket B, which has a through hole. The damping rod passes through the adapter bracket B. The adapter bracket B is installed on the inner side of the top plate, and the compression spring is located between the side wall of the housing and the adapter bracket B.

[0011] As a preferred technical solution, there are two driven wheels, which are located on the same side of the track and are arranged in an isosceles triangle with the driving wheel.

[0012] As a preferred technical solution, the guiding mechanism includes a mounting frame, guide wheels, rollers, and limiting wheels. The mounting frame is U-shaped and includes a connecting bracket and two side plates, which are respectively located on both sides of the connecting bracket. Two guide wheels and two rollers are provided, symmetrically arranged on the inner sides of the two side plates. L-shaped adapter frames are symmetrically installed on the inner sides of the side plates. The guide wheels are rotatably connected to the adapter frames and clamped on both sides of the track. The outer periphery of the guide wheels contacts and engages with the vertical wall of the track. The rollers are mounted on the side plates via roller shafts, which are vertically mounted on the side plates. The rollers are rotatably connected to the roller shafts and are suspended on the track. A connecting shaft is installed between the two side plates. The limiting wheels are rotatably sleeved on the connecting shaft and are located below the rollers. The limiting wheels contact and engage with the bottom surface of the track. A rotating shaft is rotatably connected to the bottom of the mounting frame, and the other end of the rotating shaft is fixedly connected to the top of the housing.

[0013] As a preferred technical solution, the side plate has a racetrack-shaped mounting hole vertically, and the two ends of the connecting shaft pass through the mounting hole and are tightened and fixed by nuts. The vertical position of the connecting shaft can be adjusted.

[0014] Secondly, this application provides an automatic feeding robot, which includes the above-mentioned track-type robot walking device, and also includes a storage tank and a feeder; the storage tank is connected to the lower part of the walking mechanism, the lower part of the storage tank is conical, and the feeder is provided at the bottom of the storage tank.

[0015] As a preferred technical solution, a weighing module is also included, and the walking mechanism is connected to the storage tank through the weighing module.

[0016] As a preferred technical solution, the weighing module includes a crossbeam, a weighing device, and a tie rod. Two crossbeams are installed at the bottom of the box of the walking mechanism. Each crossbeam is connected to a weighing device at both ends. The lower part of each weighing device is connected to a fixed point on the outer periphery of the storage tank through a tie rod.

[0017] The beneficial effects of this utility model are as follows:

[0018] The track-type robot walking device of this utility model has a compact walking mechanism, is lightweight, and runs smoothly; the drive mechanism and guide mechanism are modularly designed, which makes it highly versatile and easy to maintain and repair.

[0019] The track-type robot walking device of this utility model features a spring damping module in the drive mechanism and a linear guide rail structure. This structure allows the clamping preload of the driving wheel and driven wheel on the track to be adaptive, ensuring that the driving wheel and driven wheel maintain stable friction with the track during operation, preventing slippage and ensuring high running stability. The guide mechanism clamps on both sides of the track, ensuring that the walking mechanism always stays in the middle of the track during operation, maintaining stability and adapting to track turning scenarios. At the same time, by setting limit wheels under the track, the track can be locked when going uphill or downhill, maintaining stable operation and avoiding rapid sliding downhill and backward sliding uphill.

[0020] The automatic feeding robot of this invention drives the storage tank to move along the track through the walking mechanism. During the movement, the feeder at the bottom of the storage tank feeds the material stably, which can achieve automatic, efficient, accurate and stable feeding, and solve the problems of high labor intensity and inaccurate feeding in traditional breeding.

[0021] The automatic feeding robot of this invention has a weighing module installed between the walking mechanism and the storage tank, which can monitor the weight of the feed in the storage tank in real time, facilitating material monitoring. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of the walking device of this utility model;

[0024] Figure 2 This is a three-dimensional schematic diagram of the drive mechanism in the walking mechanism;

[0025] Figure 3 yes Figure 2 The front view;

[0026] Figure 4 This is a schematic diagram of the installation of the spring damping module in the drive mechanism;

[0027] Figure 5 This is a three-dimensional schematic diagram of the guiding mechanism;

[0028] Figure 6 This is a schematic diagram of the installation of the guide mechanism and the track;

[0029] Figure 7 This is a schematic diagram of the overall structure of the automatic feeding robot of this utility model.

[0030] Reference numerals: 1-track, 2-traveling mechanism, 3-weighing module, 4-storage tank, 5-feeder. 21-box body, 22-drive mechanism, 23-guide mechanism, 24-power supply; 211-top plate, 212-side wall; 221-mounting plate, 222-linear guide rail, 223-drive wheel, 224-driven wheel, 225-damping module, 226-gear motor, 227-base; 231-guide wheel, 232-roller, 233-limit wheel, 234-connecting bracket, 235-side plate, 236-transfer bracket, 237-roller shaft, 238-connecting shaft, 239-rotating shaft; 2251-spring, 2252-damping rod, 2253-transfer bracket A, 2254-transfer bracket B; 31-crossbeam, 32-weighing device, 33-pull rod. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0032] Example 1:

[0033] This embodiment provides a track-based robot walking device, such as... Figures 1-6 As shown, the system includes a walking mechanism 2, which is mounted on an I-shaped track 1. The walking mechanism 2 includes a housing 21, a drive mechanism 22, a guide mechanism 23, and a power supply 24. The drive mechanism 22 includes a drive module, a drive wheel 223, and a driven wheel 224. The drive module is located inside the housing 21 and is connected to the drive wheel 223. The drive wheel 223 and the driven wheel 224 are located on opposite sides of the track 1, clamping the track 1. The power supply 24 is electrically connected to the drive module, providing it with power. The guide mechanism 23 is rotatably connected to the top of the housing 21. Two guide mechanisms 23 are provided, located on the front and rear sides of the drive mechanism 22. The guide mechanisms 23 contact and cooperate with the track 1, guiding the movement trajectory of the drive mechanism 22.

[0034] Furthermore, the drive mechanism 22 is provided with a spring damping module 225, through which the driving wheel 223 and the driven wheel 224 provide preload force for clamping the track 1.

[0035] In one specific embodiment, the drive mechanism 22 includes a mounting plate 221, which is disposed inside the housing 21. A linear guide rail 222 is provided between the mounting plate 221 and the top plate 211 of the housing 21. A spring damping module 225 is provided between the mounting plate 221 and a side wall 212 of the housing 21. Under the action of the spring damping module 225, the mounting plate 221 floats relative to the top plate 211 along the linear guide rail 222. The drive module includes a geared motor 226, which is mounted on the lower part of the mounting plate 221. The geared motor 226 is connected to the drive wheel 223 through a drive shaft. The top plate 211 is provided with a racetrack-shaped floating hole, and the drive shaft extends out of the housing body through the floating hole. The driven wheel 224 is rotatably connected to the base 227 mounted on the top plate 211 through the driven wheel shaft. The driven wheel 224 is fixed relative to the top plate 211. The mounting plate 221 floats relative to the top plate 211 under the action of the spring damping module 225, causing the driving wheel 223 to float, thereby adaptively adjusting the preload of the clamping track 1. In this embodiment, the spring damping module is used in conjunction with the linear guide rail, enabling the drive mechanism to adaptively adjust the preload, ensuring that the driving wheel and driven wheel maintain stable friction with the track during operation, preventing slippage and ensuring high operational smoothness. Preferably, both the driving wheel 223 and the driven wheel 224 are made of rubber-coated wheels to improve friction, extend service life, reduce noise, and ensure smooth operation. Preferably, there are two driven wheels 224, located on the same side of the track 1, arranged in an isosceles triangle with the driving wheel 223.

[0036] Specifically, the spring damping module 225 includes a compression spring 2251 and a damping rod 2252. The compression spring 2251 is sleeved on the damping rod 2252. One end of the damping rod 2252 is fixedly connected to the side wall 212 of the housing 21, and the other end is fixedly connected to the mounting plate 221 through an L-shaped adapter bracket A2253. It also includes an L-shaped adapter bracket B2254. The adapter bracket B2254 has a through hole, through which the damping rod 2252 passes. The adapter bracket B2254 is installed inside the top plate 211, and the compression spring 2251 is located between the side wall 212 of the housing 21 and the adapter bracket B2254.

[0037] In one specific embodiment, the guiding mechanism 23 includes a mounting frame, guide wheels 231, rollers 232, and limiting wheels 233. The mounting frame is U-shaped and includes a connecting bracket 234 and two side plates 235, which are respectively disposed on both sides of the connecting bracket 234. Two guide wheels 231 and two rollers 232 are provided, symmetrically disposed on the inner sides of the two side plates 235. L-shaped adapter frames 236 are symmetrically installed on the inner sides of the side plates 235. The guide wheels 231 are rotatably connected to the adapter frames 236, and the guide wheels 231 are clamped on both sides of the track. The outer periphery of the guide wheels 231 is flush with the track. The vertical walls of the track are in contact with each other; the roller 232 is mounted on the side plate 235 via the roller shaft 237, the roller shaft 237 is vertically mounted on the side plate 235, the roller 232 is rotatably connected to the roller shaft 237, and the roller 232 is suspended on the track; a connecting shaft 238 is installed between the two side plates 235, and a limiting wheel 233 is rotatably sleeved on the connecting shaft 238, the limiting wheel 233 is located below the roller 232, and the limiting wheel 233 is in contact with the bottom surface of the track; a rotating shaft 239 is rotatably connected to the bottom of the mounting frame, and the other end of the rotating shaft 239 is fixedly installed on the top of the housing 21. Preferably, the vertical position of the connecting shaft 238 is adjustable, and a racetrack-shaped mounting hole is vertically opened on the side plate 235. Both ends of the connecting shaft 238 pass through the mounting hole and are tightened and fixed by nuts; the vertical position of the connecting shaft 238 is adjustable, so that the distance between the limiting wheel 233 and the roller 232 can be adjusted, thereby adapting to tracks of different thicknesses. In this embodiment, the guide mechanism 23 can ensure that the robot walking mechanism 2 runs smoothly along the preset track 1.

[0038] Example 2:

[0039] This embodiment, based on Embodiment 1, provides an automatic feeding robot, such as... Figure 7 As shown, it also includes a storage tank 4 and a feeder 5. The lower part of the traveling mechanism 2 is connected to the storage tank 4, the lower part of which is conical, and the feeder 5 is installed at the bottom of the storage tank 4. Furthermore, it also includes a weighing module 3, through which the traveling mechanism 2 is connected to the storage tank 4. The traveling mechanism 2 is installed and cooperates with the track 1, allowing it to move along the track 1. The traveling mechanism 2 drives the storage tank 4 to move along the track 1. During the movement, the feeder 5 at the bottom of the storage tank 4 provides stable feeding, achieving automatic, efficient, precise, and stable feeding, solving problems such as high labor intensity and inaccurate feeding in traditional farming.

[0040] Furthermore, the weighing module includes a crossbeam 31, a weighing device 32, and a pull rod 33. Two crossbeams 31 are installed at the bottom of the housing 21 of the walking mechanism 2. Each crossbeam 31 is connected to a weighing device 32 at both ends. The lower part of each weighing device 32 is connected to a fixed point on the outer periphery of the storage tank 4 through the pull rod 33.

[0041] Preferably, the storage tank 4 is made of injection-molded plastic bucket, which is lightweight, helps to improve the stability of robot operation, and is corrosion-resistant, making it suitable for use in humid environments in aquaculture.

[0042] Preferably, the feeder 5 adopts a star-shaped feeder, also known as a star-shaped unloader, which is a technology in the prior art. The specific structure of the feeder will not be described in detail here. The star-shaped feeder has the characteristics of good sealing performance, strong anti-clogging ability, accurate feeding, and simple maintenance, and is suitable for feed feeding in aquaculture.

[0043] Of course, there may be other embodiments of this utility model. Without departing from the spirit and essence of this utility model, those skilled in the art can make various corresponding changes and modifications based on this utility model, but these corresponding changes and modifications should all fall within the protection scope of the appended claims of this utility model.

Claims

1. A track-mounted robot walking device, characterized in that... The system includes a walking mechanism (2), which is installed on a track (1) with an I-shaped cross section. The walking mechanism (2) includes a housing (21), a drive mechanism (22), a guide mechanism (23), and a power supply (24). The drive mechanism (22) includes a drive module, a drive wheel (223), and a driven wheel (224). The drive module is located inside the housing (21) and is connected to the drive wheel (223). The drive wheel (223) and the driven wheel (224) are located on both sides of the track (1) to clamp the track (1). The power supply (24) is electrically connected to the drive module to provide power to the drive module. The guide mechanism (23) is rotatably connected to the top of the housing (21). There are two guide mechanisms (23), which are located on the front and rear sides of the drive mechanism (22). The guide mechanism (23) is in contact with the track (1) to guide the movement trajectory of the drive mechanism (22).

2. The track-mounted robot walking device according to claim 1, characterized in that... The drive mechanism (22) is equipped with a spring damping module (225), and the driving wheel (223) and the driven wheel (224) provide preload force for clamping the track (1) through the spring damping module (225).

3. The track-type robot walking device according to claim 2, characterized in that: The drive mechanism (22) includes a mounting plate (221) located inside the housing (21). A linear guide rail (222) is provided between the mounting plate (221) and the top plate (211) of the housing (21). A spring damping module (225) is provided between the mounting plate (221) and a side wall (212) of the housing (21). Under the action of the spring damping module (225), the mounting plate (221) moves along the linear guide rail (222). The top plate (211) floats relative to the top plate (211); the drive module includes a geared motor (226), which is installed on the lower part of the mounting plate (221). The geared motor (226) is connected to the drive wheel (223) through the drive shaft; the top plate (211) is provided with a racetrack-shaped floating hole, and the drive shaft extends from the floating hole to the outside of the box; the driven wheel (224) is rotatably connected to the base (227) installed on the top plate (211) through the driven wheel shaft.

4. The track-type robot walking device according to claim 3, characterized in that: The spring damping module (225) includes a compression spring (2251) and a damping rod (2252). The compression spring (2251) is sleeved on the damping rod (2252). One end of the damping rod (2252) is fixedly connected to the side wall (212) of the housing (21), and the other end is fixedly connected to the mounting plate (221) through an L-shaped adapter bracket A (2253). It also includes an L-shaped adapter bracket B (2254). The adapter bracket B (2254) has a through hole. The damping rod (2252) passes through the adapter bracket B (2254). The adapter bracket B (2254) is installed inside the top plate (211). The compression spring (2251) is located between the side wall (212) of the housing (21) and the adapter bracket B (2254).

5. The track-mounted robot walking device according to claim 1, characterized in that: There are two driven wheels (224), which are located on the same side of the track (1). The two driven wheels (224) and the driving wheel (223) are arranged in an isosceles triangle.

6. The track-mounted robot walking device according to claim 1, characterized in that: The guiding mechanism (23) includes a mounting frame, guide wheels (231), rollers (232), and limiting wheels (233). The mounting frame is U-shaped and includes a connecting bracket (234) and two side plates (235), which are respectively located on both sides of the connecting bracket (234). There are two guide wheels (231) and two rollers (232), which are symmetrically arranged inside the two side plates (235). L-shaped adapter frames (236) are symmetrically installed inside the side plates (235). The guide wheels (231) are rotatably connected to the adapter frames (236). The guide wheels (231) are clamped on both sides of the track, and the outer periphery of the guide wheels (231) is in contact with the vertical wall of the track. The roller (232) is mounted on the side plate (235) via a roller shaft (237). The roller shaft (237) is vertically mounted on the side plate (235). The roller (232) is rotatably connected to the roller shaft (237). The roller (232) is suspended on the track. A connecting shaft (238) is installed between the two side plates (235). A limiting wheel (233) is rotatably sleeved on the connecting shaft (238). The limiting wheel (233) is located below the roller (232). The limiting wheel (233) is in contact with the bottom surface of the track. A rotating shaft (239) is rotatably connected to the bottom of the mounting frame. The other end of the rotating shaft (239) is fixedly connected to the top of the box (21).

7. The track-mounted robot walking device according to claim 6, characterized in that: The side plate (235) has a vertically opened racetrack-shaped mounting hole. The two ends of the connecting shaft (238) pass through the mounting hole and are tightened and fixed by nuts. The vertical position of the connecting shaft (238) can be adjusted.

8. An automatic feeding robot comprising the track-type robot walking device according to any one of claims 1 to 7, characterized in that: It also includes a storage tank (4) and a feeder (5); the storage tank (4) is connected to the lower part of the walking mechanism (2), the lower part of the storage tank (4) is conical, and the feeder (5) is installed at the bottom of the storage tank (4).

9. The automatic feeding robot according to claim 8, characterized in that: It also includes a weighing module (3), and the walking mechanism (2) is connected to the storage tank (4) through the weighing module (3).

10. The automatic feeding robot according to claim 9, characterized in that: The weighing module includes a crossbeam (31), a weighing device (32), and a pull rod (33). Two crossbeams (31) are installed at the bottom of the box (21) of the walking mechanism (2). Each crossbeam (31) is connected to a weighing device (32) at both ends. The lower part of each weighing device (32) is connected to a fixed point on the outer periphery of the storage tank (4) through the pull rod (33).

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