A mobile feeding robot

Abstract

The utility model discloses a kind of mobile feeding robot, it is related to feed feeding equipment related technical field, including hopper, hopper is equipped with opening upward material cavity, hopper is connected with chassis trolley, hopper is equipped with feeding device and replenishment device below material cavity, hopper is equipped with discharge pipe, one end of discharge pipe penetrates through hopper, the other end of discharge pipe and feeding device are communicated, and there is connecting pipe between discharge pipe and replenishment device, the pipe diameter of connecting pipe reduces from replenishment device side to discharge pipe side;The utility model can make granular feed automatic concentration, arch breaking, broken agglomerate by inverted square pyramid hopper+double vibration module+anti-piling rod, ensure continuous discharging;Helical blade horizontal conveying uniform speed, ration, variable speed, completely avoid material jam, accurately control feeding amount;Cover plate-counterweight arc block linkage, when injection, it is automatically turned over by impact, it is automatically returned after injection, without manual cover opening, prevent foreign matter from falling in.

Description

Technical Field

[0001] This utility model relates to the technical field of feed feeding equipment, and in particular to a mobile feeding robot. Background Technology

[0002] Recirculating Aquaculture Systems (RAS) are a new, sustainable aquaculture model that integrates modern engineering, recirculating water treatment, high-density aquaculture, and intensive management. RAS features advanced equipment, a controllable environment, high stocking density, high yields, and mechanized or automated operation throughout the entire process. Management, harvesting, quality, and safety are easily controlled, and products can be sold in a balanced manner. With its excellent social, economic, and ecological benefits, RAS is internationally recognized as the future direction of modern aquaculture.

[0003] The current feeding methods for fish ponds are diverse but all have shortcomings: fixed-point devices are limited by their installation location, resulting in a narrow feeding range and easy formation of blind spots and accumulation; manual feeding is inefficient, inaccurate, and greatly affected by human factors; while track-mounted equipment expands the range, it lacks flexibility, has high modification costs, and is prone to failure. Utility Model Content

[0004] Purpose of the invention: The purpose of this utility model is to provide a mobile feeding robot to solve the problems of fixed position and poor feeding effect of existing feeding equipment.

[0005] Technical solution:

[0006] A mobile feeding robot includes a hopper with an upward-opening material cavity. The hopper is connected to a chassis trolley. Below the material cavity, the hopper has a feeding device and a replenishing device. The hopper has a discharge pipe, one end of which passes through the hopper and the other end of which is connected to the feeding device. A connecting pipe connects the discharge pipe and the replenishing device, and the diameter of the connecting pipe decreases from the replenishing device side to the discharge pipe side.

[0007] Preferably, the feeding device includes a transmission chamber, the top wall of which is connected to the material chamber, and the transmission chamber is connected to the connecting pipe.

[0008] Preferably, the feeding device further includes a propeller blade, which is arranged axially along the transmission cavity. One end of the propeller blade extends into the connecting pipe, and the other end of the propeller blade is poweredly connected to a drive motor.

[0009] By controlling the feed to continuously feed along the axial direction using propeller blades, the feed flow rate can be reasonably controlled, reducing feed blockage in the transmission chamber.

[0010] Preferably, the feeding device includes a blower located at one end of the discharge pipe.

[0011] Preferably, the hopper is rotatably mounted with a cover plate at the opening of the material cavity, and a counterweight arc block is connected to the side of the cover plate facing the material cavity.

[0012] Preferably, the bottom wall of the material chamber is sloped below the cover plate, and the hopper is provided with a vibration module on the sloped surface.

[0013] Preferably, the hopper is connected to a guide pipe, and the guide pipe is connected to the discharge pipe.

[0014] Preferably, the guide pipe is movably connected to a nozzle above the hopper.

[0015] Preferably, the hopper is connected to a return plate below the nozzle.

[0016] By raising the position of the nozzles through the diversion pipes, the feed is projected into the pond from a high position along a parabola, increasing the feeding range. The feed is then collected from nearby areas by the return plate, preventing scattered feed from falling to the ground and affecting environmental hygiene.

[0017] Beneficial effects: The inverted square pyramid hopper, dual vibration module, and anti-stacking rod enable automatic concentration, arching, and breaking of clumps in pelleted feed, ensuring continuous feeding; the propeller blades provide horizontal, uniform, quantitative, and variable-speed conveying, completely preventing material jamming and precisely controlling the feeding amount; the cover plate and counterweight arc block linkage automatically open upon impact during feeding and automatically return to their original position after feeding, eliminating the need for manual opening and preventing foreign objects from falling in; the blower and venturi connector pipe work together to instantly blow feed out with high-speed airflow, achieving long range and uniform distribution; the S-shaped guide pipe, combined with a 360° adjustable nozzle, adapts to different pool types and feed volume requirements. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the cover plate structure of this utility model;

[0020] Figure 3This is a schematic diagram of the cross-sectional structure of the hopper of this utility model.

[0021] Reference numerals: 11. Hopper; 12. Chassis trolley; 13. Material chamber; 14. Vibration module; 15. Cover plate; 16. Counterweight arc block; 17. Transmission chamber; 18. Propeller blade; 19. Discharge pipe; 20. Fan; 21. Connecting pipe; 22. Guide pipe; 23. Nozzle; 24. Return plate. Detailed Implementation

[0022] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Example 1

[0024] like Figure 1 As shown, a mobile feeding robot includes a hopper 11, and a chassis trolley 12 is connected to the bottom of the hopper 11. The hopper 11 and the chassis trolley 12 can be modularly connected, which can be quickly replaced and is convenient for maintenance.

[0025] The chassis trolley 12 is an omnidirectional mobile chassis with a Mecanum wheel / omnidirectional wheel layout, supporting on-the-spot turning and lateral movement, adapting to narrow passages (such as pool spacing <1m), while the chassis is ≥15cm off the ground, and the motor and bearings adopt an IP67 sealing structure to prevent water stains and feed dust from entering; the wheel rims are added with anti-slip texture, and the wheel axles are independently suspended, which can cross ground obstacles ≤5cm (such as water pipes and thresholds).

[0026] The chassis trolley 12 enables free path planning in the breeding workshop, reducing installation costs and improving layout flexibility.

[0027] The hopper 11 has a material chamber 13 with an upward opening. Below the material chamber 13, the hopper 11 has a feeding device and a replenishing device. The feeding device is used to realize the feeding operation, and the replenishing device is located between the material chamber 13 and the feeding device. It is used to control the feeding of materials in a cyclical manner and reduce feed blockage.

[0028] The upper end of the hopper 11 is connected to a return plate 24 and a camera module. The return plate 24 and the camera module are located on both sides of the hopper 11. The return plate 24 is used to collect feed that falls outside the hopper during the feeding process. The camera module is used to collect information and, together with the central control system installed in the hopper, adjust the operation of the feeding robot.

[0029] The bottom of the material chamber 13 is an inverted quadrangular pyramid structure, which concentrates the feed through the inclined surface, making it convenient for the feeding device to transport the feed.

[0030] Vibration module 14 and anti-stacking rod are also connected to the bottom wall of material cavity 13. There is at least one vibration module 14. In this embodiment, there are two vibration modules 14 and they are symmetrically installed on the bottom wall of material cavity 13. The anti-stacking rod is located between the two vibration modules 14.

[0031] The vibration module 14 and the anti-stacking rod work together to prevent the accumulation of granular feed. The anti-stacking rod is horizontally set and has the function of cutting clumps of feed. The vibration module 14 further vibrates the feed to reduce the occurrence of feed clumping.

[0032] like Figure 2 As shown, a cover plate 15 is rotatably installed at the opening on the upper side of the material chamber 13 of the hopper 11. A rotating shaft is provided at the center of the cover plate 15. The cover plate 15 rotates around its own axis through the rotating shaft. At the same time, the cover plate 15 is also connected to a counterweight arc block 16. The counterweight arc block 16 is fixed at the rotating shaft of the cover plate 15. The counterweight arc block 16 is located on the side of the cover plate 15 facing the material chamber 13. The cover plate 15 can be flipped horizontally through the counterweight arc block 16.

[0033] To ensure that the cover plate 15 can be flipped and reset, when the cover plate 15 is flipped to the vertical position, there is a large space between the lower end of the cover plate 15 and the bottom of the material cavity 13, and the cover plate 15 does not contact the inclined surface.

[0034] The feeding robot automatically moves to the feeding point. During feeding, the feed is continuously injected perpendicularly to the side of the cover plate 15. The cover plate 15 tilts after being impacted, even reaching a vertical position. After feeding is completed, the cover plate 15 automatically returns to a horizontal position due to the influence of the counterweight arc block 16. The feeding amount is precisely controlled by an externally set feeding machine, and the material will not be obstructed, thus smoothly returning to a horizontal position.

[0035] like Figure 3 As shown, the feeding device is located below the material chamber 13. The hopper 11 is provided with a transmission chamber 17 below the material chamber 13. The top wall of the transmission chamber 17 is connected to the lower opening of the material chamber 13. The transmission chamber 17 is a horizontally arranged cylindrical cavity. The feeding device has a propeller blade 18 arranged axially inside the transmission chamber 17. One end of the propeller blade 18 is connected to a drive motor, and the other end of the propeller blade 18 is connected to the feeding device. The horizontal transmission is controlled by the propeller blade 18 to transfer the feed in the material chamber 13 to the feeding device. The spiral structure can control the stable movement of the feed, reduce blockage, and control the motor speed, thereby realizing the feeding speed and controlling the feeding amount.

[0036] The feeding device is located below the feeding device. The feeding device includes a discharge pipe 19, which is arranged parallel to the transmission chamber 17 and located below the transmission chamber 17. One end of the discharge pipe 19 passes through the hopper 11, and the other end of the discharge pipe 19 is connected to a cavity. A fan 20 is installed in the cavity of the hopper 11. The hopper 11 has an air inlet buckle at the end of the fan 20 away from the discharge pipe 19. When the fan 20 is working, the material falling into the discharge pipe 19 is sprayed out.

[0037] Furthermore, to facilitate feed dispensing, a connecting pipe 21 is provided between the feeding device and the replenishing device. The connecting pipe 21 is inclined, and its two ends are connected to the transmission chamber 17 and the discharge pipe 19, respectively, to facilitate feed flow.

[0038] The blower 20 generates a high-speed airflow and drives the feed to move. The connecting pipe 21 is designed with a narrowed pipe diameter to form a Venturi structure, which further increases the wind speed. The feed falls to the propeller blade 18 under the action of gravity and is then transported to the connecting pipe 21. Under the action of high-pressure airflow, the feed is blown out of the pipeline before it falls to the bottom of the discharge pipe 19.

[0039] To achieve the throwing effect, the hopper 11 is connected to a guide pipe 22, which has an S-shaped structure. The lower end of the guide pipe 22 is connected to the opening of the discharge pipe 19, and the upper end of the guide pipe 22 extends upward to the top of the hopper 11 to facilitate the throwing operation.

[0040] Meanwhile, a nozzle 23 is movably connected to the guide pipe 22 above the hopper 11. The spray 23 and the guide pipe 22 are connected by a compression pipe. The angle of the nozzle 23 can be adjusted at will through the compression pipe shell to adapt to the spraying effect under various conditions.

[0041] The nozzle 23 is located above the return plate 24, and the feed scattered at the nozzle 23 can flow back to the hopper 11 through the return plate 24.

[0042] The feeding robot in this embodiment is equipped with an intelligent control system, which enables the feeding robot to work autonomously.

[0043] Step 1: Task Triggering and Path Planning

[0044] Triggering conditions: The central control system issues a command according to the preset feeding plan or a feeding command is issued manually.

[0045] Robot response:

[0046] Based on the SLAM map, the omnidirectional chassis vehicle starts and moves to the target breeding pond at a speed of 0.5m / s.

[0047] The camera scans ground obstacles in real time and dynamically corrects its position (docking error <10cm).

[0048] Step 2: Feeding Preparation

[0049] Sealed cover opening: After arriving at the feeding point, feed is fed according to the set motor conveying speed and fan speed.

[0050] Feed conveying preparation: The propeller blades are pre-run at a low speed (50 rpm) to prevent feed from piling up.

[0051] Step 4: Stop feeding and seal off the area

[0052] Stop condition: The set feeding amount (feedback from the level sensor) or the time threshold is reached.

[0053] Final step: The spiral feeder reverses for 2 seconds to empty any remaining feed.

[0054] The feeding blower shuts off after a delay (to clean the pipeline).

[0055] Step 5: Autonomous charging and standby

[0056] Automatically returns to the charging station when the battery level is less than 20% (infrared positioning + contact charging).

[0057] When in standby mode, the hopper should be kept sealed to prevent moisture from entering.

[0058] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A mobile feeding robot, comprising a hopper, wherein the hopper has an upward-opening material chamber, characterized in that, The hopper is connected to a chassis trolley. The hopper is equipped with a feeding device and a replenishing device below the material chamber. The hopper is equipped with a discharge pipe. One end of the discharge pipe passes through the hopper, and the other end of the discharge pipe is connected to the feeding device. A connecting pipe connects the discharge pipe and the replenishing device. The diameter of the connecting pipe decreases from the replenishing device side to the discharge pipe side.

2. The mobile feeding robot according to claim 1, characterized in that, The feeding device includes a transmission chamber, the top wall of which is connected to the material chamber, and the transmission chamber is connected to the connecting pipe.

3. A mobile feeding robot according to claim 2, characterized in that, The feeding device also includes a propeller blade, which is arranged along the axial direction of the transmission cavity. One end of the propeller blade extends into the connecting pipe, and the other end of the propeller blade is poweredly connected to a drive motor.

4. A mobile feeding robot according to claim 1, characterized in that, The feeding device includes a blower, which is located at one end of the discharge pipe.

5. A mobile feeding robot according to claim 1, characterized in that, The hopper is rotatably mounted with a cover plate at the opening of the material cavity, and a counterweight arc block is connected to the side of the cover plate facing the material cavity.

6. A mobile feeding robot according to claim 5, characterized in that, The bottom wall of the material chamber is sloped below the cover plate, and the hopper is provided with a vibration module on the sloped surface.

7. A mobile feeding robot according to claim 1, characterized in that, The hopper is connected to a guide pipe, and the guide pipe is connected to the discharge pipe.

8. A mobile feeding robot according to claim 7, characterized in that, The guide pipe is movably connected to a nozzle above the hopper.

9. A mobile feeding robot according to claim 8, characterized in that, The hopper is connected to a return plate below the nozzle.

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