CN107173248A - A kind of robot pusher - Google Patents
A kind of robot pusher Download PDFInfo
- Publication number
- CN107173248A CN107173248A CN201710492090.4A CN201710492090A CN107173248A CN 107173248 A CN107173248 A CN 107173248A CN 201710492090 A CN201710492090 A CN 201710492090A CN 107173248 A CN107173248 A CN 107173248A
- Authority
- CN
- China
- Prior art keywords
- central controller
- motor
- protection ring
- housing
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001939 inductive effect Effects 0.000 claims abstract description 10
- 238000013016 damping Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 2
- 239000008267 milk Substances 0.000 abstract description 5
- 210000004080 milk Anatomy 0.000 abstract description 5
- 235000013336 milk Nutrition 0.000 abstract description 5
- 230000003247 decreasing effect Effects 0.000 abstract description 3
- 239000002699 waste material Substances 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 7
- 241000283690 Bos taurus Species 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/10—Feed racks
- A01K1/105—Movable feed barriers, slides or fences
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Zoology (AREA)
- Birds (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
Abstract
The present invention relates to livestock-raising equipment technical field, in particular a kind of robot pusher, including housing and support, support top connect road wheel provided with motor and front-wheel, driving motor output shaft is also connected with counterweight and support；Also include control device, damping device and electric device; control device includes central controller; central controller communicates to connect encoder, ultrasonic sensor, angular-rate sensor, piezomagnetic sensor and inductive pick-up respectively; central controller also electrically connects motor and personal control; damping device includes power energizer and protection ring; power energizer communicates to connect central controller and in protection ring; piezomagnetic sensor is also in protection ring, and protection ring is arranged on the outside of housing.Pusher is worked in the case of nobody, allow milk cow can to have fresh feed in a whole day, while the waste of feed is also greatly decreased.
Description
Technical field
The present invention relates to livestock-raising equipment technical field, specially a kind of robot pusher.
Background technology
There are three major issues in domestic large-scale livestock-raising at present, especially milk cattle cultivating：First, employee turnover it is high,
It is artificial that alternately training is difficult, cost is high, station with high content of technology realizes that machine is replaced；2nd, by employee from high-risk, dirty smelly, noise
Freed in the bad working environment such as greatly, dust is big, temperature is high；3rd, in the high neck of the manually control of operation quality hardly possible, defect rate
It is artificial that domain realizes that machine is replaced.Wherein above-mentioned Second Problem is particularly important, because whatsoever situation personnel are most important
's.
With the development of domestic industry technology, drive the technology of automatic field also becomes ripe therewith, now increasingly
Many fields introduce automation means, and based on automated control technology, realize full automatic robot device's control.Separately
Under the trend of external Automation of Agricultural Production development, robot technology is incorporated into livestock-raising, economy is not exclusively complied with
Development be also the important channel for improving cultural technique and efficiency, while personnel are solved into releasing from the bad working environment of cultivation
Come, on the one hand protect the health of staff, on the other hand can also reduce personnel amount, improve the economic benefit of cultivation.
The content of the invention
It is an object of the invention to provide a kind of robot pusher, to solve the problems mentioned in the above background technology.
The characteristics of robot pusher has big angle of turn and pushes feed in the case of nobody.
To achieve the above object, the present invention provides following technical scheme：
Above a kind of robot pusher, including housing and the support that is connected on housing, the support provided with counterweight and
Motor and front-wheel are also connected with support, the driving motor output shaft connects road wheel；
Also include control device, damping device and electric device, the control device includes central controller, the center
Controller communicates to connect encoder, ultrasonic sensor, angular-rate sensor, piezomagnetic sensor and inductive pick-up respectively,
The central controller also electrically connects motor and personal control, and wherein encoder is arranged in driving motor output shaft,
Inductive pick-up is arranged on the middle lower section of support；The damping device includes power energizer and protection ring, the power energization
Device communicates to connect central controller and in protection ring, and the piezomagnetic sensor is also in protection ring, and protection ring is pacified
On the outside of housing；The electric device is the battery with dividing plate and the charge-carrying belt for connecting battery, is motor and control
Device processed is powered.
It is preferred that, the outer arch provided with hinged lid, hinged lid bottom and is provided with scram button, jerk positioned at counterweight
Button electrically connects central controller.
It is preferred that, the motor and road wheel are left and right two.
It is preferred that, the central controller is IMC100.
It is preferred that, the personal control is provided with operation button and display screen.
It is preferred that, the protection ring is 60cm apart from outer frame bottom.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, counterweight increases the weight of pusher itself, makes pusher function have enough weight to push feed, the row of pusher
Sail power to be provided by two motors, each motor is equipped with an encoder, is each driven by central controller controls
The output speed of motor, allows motor to drive road wheel at different rates, can increase the angle of turn of pusher；
2nd, central controller be uniformly controlled ultrasonic sensor, encoder, inductive pick-up and piezomagnetic sensor and
Angular transducer, allows pusher to be worked in the case of nobody, and staff is freed, and makes milk cow whole one
It can have fresh feed, while the waste of feed is also greatly decreased.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is drive device schematic diagram of the present invention；
Fig. 3 is control device schematic diagram of the present invention.
In figure：1 housing, 2 motors, 3 road wheels, 4 supports, 5 counterweights, 6 front-wheels, 7 central controllers, 8 hinged lids, 9
Protection ring, 10 charge-carrying belts.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-3 are referred to, the present invention provides a kind of technical scheme：
A kind of robot pusher, including housing 1 and the support 4 that is connected on housing 1, the top of support 4 provided with counterweight 5 and
Motor 2 and front-wheel 6, the output shaft of motor 2 connection road wheel 3 are also connected with support 4；Motor 2 and road wheel 3 are
Left and right two, pusher does not have deflecting roller, and control direction, the weight of counterweight 5 are come slowly by two speed one fast one of motor 2
335kg is reached to ensure that there is pusher enough quality to push feed.
Also include control device, damping device and electric device, control device includes central controller 7, central controller 7
Communication connection encoder, ultrasonic sensor, angular-rate sensor, piezomagnetic sensor and inductive pick-up, central to control respectively
Device 7 processed also electrically connects motor 2 and personal control；The model of central controller 7 selects IMC100, controls the fortune of pusher
It is dynamic；Encoder is arranged on the output shaft of motor 2, and each motor 2 is used to calculate motor 2 equipped with an encoder
The rotation of output shaft, the type selecting of encoder is selected according to the output shaft diameter of resolution ratio and motor 2, and encoder judges
The travel distance of motor 2, ultrasonic sensor selects model Sonar4BOT, is the special biography of ultrasonic ranging robot
Sensor, angular-rate sensor selects model EWTS82, and inductive pick-up is arranged in the middle part of the lower section of support 4, for edge feeding
Channel detection pre-installs metal tape, so can ensure that the accuracy of pusher course, and inductive pick-up selects model F1SF-
M0801N-O3U2.Central controller 7 is equipped with management software and controls motor 2, electric device and damping device.
The damping device includes power energizer and protection ring 9, and the power energizer communicates to connect central controller 7
And in protection ring 9, piezomagnetic sensor is also inside protection ring 9, and piezomagnetic sensor model number is from annular
PFVL141R, if milk cow occlusion protection ring 9 or extraneous barrier touch protection ring 9, pusher can stop, stepping back or send
Alarm, power energizer is inputted from central controller 7 and transmits output to protection ring 9, and protection ring 9 is arranged on housing 1
Outside, protection ring 9 is 60cm apart from the bottom of housing 1, when pusher encounters an at least above ground 60cm object, can be stood
Stop or step back vehicle.
Central controller 7 sends output to personal control, ultrasonic sensor, motor 2, encoder and sensing
Sensor, while central controller 7 is from personal control, ultrasonic sensor, motor 2, encoder and inductive pick-up
Inputted.
The electric device is the battery with dividing plate and the charge-carrying belt 10 for connecting battery, is motor 2 and control
Device is powered.
The top of housing 1 provided with hinged lid 8, the bottom of hinged lid 8 and is provided with scram button 6, scram button 6 positioned at counterweight 5
Electrically connect central controller 7.
Personal control is provided with operation button and display screen, so that user is sending instruction and change numerical value to pusher,
Display screen may also display report and alarm.
When pusher is along feeding passages traveling, feed simultaneously is tightly pushed into feed fence, ultrasound by the pusher housing 1
Wave sensor is used in the distance for measuring and feeding fence, pusher traveling process, is travelled according to predetermined paths, during traveling
Angular transducer controls direct of travel, makes it according to being correctly oriented traveling；When needing to turn during traveling, user can also
Operational control is carried out by the operation button of personal control, to avoid pusher travel route from making a mistake.
Counterweight 5 increases the weight of pusher itself, makes pusher function have enough weight to push feed, the traveling of pusher
Power is provided by two motors 2, and each motor, with an encoder, each driving is controlled by central controller 7 with 2
The output speed of motor 2, allows motor 2 to drive road wheel 3 at different rates, can increase the turning angle of pusher
Degree.
Central controller 7 is uniformly controlled ultrasonic sensor, encoder, inductive pick-up and piezomagnetic sensor and angle
Sensor is spent, pusher is worked in the case of nobody, staff is freed, allow milk cow can be in a whole day
Fresh feed can be had, while the waste of feed is also greatly decreased.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of robot pusher, including housing (1) and the support (4) that is connected on housing (1), it is characterised in that：It is described
Provided with motor (2) and front-wheel (6) is also connected with counterweight (5) and support (4) above support (4), the motor (2) is defeated
Shaft connection road wheel (3)；
Also include control device, damping device and electric device, the control device includes central controller (7), the center
Controller (7) communicates to connect encoder, ultrasonic sensor, angular-rate sensor, piezomagnetic sensor and sensing sensing respectively
Device, the central controller (7) also electrically connects motor (2) and personal control, and wherein encoder is arranged on motor
(2) on output shaft, inductive pick-up is arranged on the middle lower section of support (4)；The damping device includes power energizer and protection
Ring (9), the power energizer communication connection central controller (7) is simultaneously arranged in protection ring (9), the piezomagnetic sensor
Also in protection ring (9), protection ring (9) is arranged on the outside of housing (1)；The electric device is the battery with dividing plate and company
The charge-carrying belt (10) of battery is connect, is that motor (2) and control device are powered.
2. a kind of robot pusher according to claim 1, it is characterised in that：It is provided with and is hinged at the top of the housing (1)
Cover (8), hinged lid (8) bottom and positioned at counterweight (5) be provided with scram button (6), scram button (6) electrical connection central controller
(7)。
3. a kind of robot pusher according to claim 1, it is characterised in that：The motor (2) and road wheel
(3) it is left and right two.
4. a kind of robot pusher according to claim 1, it is characterised in that：The central controller (7) is
IMC100。
5. a kind of robot pusher according to claim 1, it is characterised in that：The personal control is pressed provided with operation
Button and display screen.
6. a kind of robot pusher according to claim 1, it is characterised in that：The protection ring (9) is apart from housing (1)
Bottom is 60cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710492090.4A CN107173248A (en) | 2017-06-26 | 2017-06-26 | A kind of robot pusher |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710492090.4A CN107173248A (en) | 2017-06-26 | 2017-06-26 | A kind of robot pusher |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107173248A true CN107173248A (en) | 2017-09-19 |
Family
ID=59844802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710492090.4A Pending CN107173248A (en) | 2017-06-26 | 2017-06-26 | A kind of robot pusher |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107173248A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107736260A (en) * | 2017-09-30 | 2018-02-27 | 华智高科（苏州）汽车科技有限公司 | A kind of forage grass pushes robot |
| RU193512U1 (en) * | 2019-08-05 | 2019-10-31 | Акционерное общество "Слободской машиностроительный завод" | FEEDER |
| CN112450100A (en) * | 2019-12-30 | 2021-03-09 | 丰疆智能(深圳)有限公司 | Pushing equipment and charging method thereof |
| CN112450099A (en) * | 2019-12-30 | 2021-03-09 | 丰疆智能(深圳)有限公司 | Pusher and pushing method thereof |
| WO2021135043A1 (en) * | 2019-12-30 | 2021-07-08 | 丰疆智能科技股份有限公司 | Material pushing apparatus and charging method thereof, and material pushing machine and material pushing method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107736260A (en) * | 2017-09-30 | 2018-02-27 | 华智高科（苏州）汽车科技有限公司 | A kind of forage grass pushes robot |
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| RU193512U1 (en) * | 2019-08-05 | 2019-10-31 | Акционерное общество "Слободской машиностроительный завод" | FEEDER |
| CN112450100A (en) * | 2019-12-30 | 2021-03-09 | 丰疆智能(深圳)有限公司 | Pushing equipment and charging method thereof |
| CN112450099A (en) * | 2019-12-30 | 2021-03-09 | 丰疆智能(深圳)有限公司 | Pusher and pushing method thereof |
| WO2021135043A1 (en) * | 2019-12-30 | 2021-07-08 | 丰疆智能科技股份有限公司 | Material pushing apparatus and charging method thereof, and material pushing machine and material pushing method thereof |
| CN112450099B (en) * | 2019-12-30 | 2023-09-08 | 丰疆智能(深圳)有限公司 | Pushing machine and pushing method thereof |
| CN112450100B (en) * | 2019-12-30 | 2024-04-12 | 丰疆智能(深圳)有限公司 | Pushing equipment and charging method thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170919 |
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| RJ01 | Rejection of invention patent application after publication |